Remote control method and terminal

ABSTRACT

The present application discloses a remote control method and apparatus for controlling the state of a movable object and/or a load carried thereon. The remote control method comprising: receiving, via an apparatus, a state signal that corresponds to a user&#39;s position; remote-controlling the state of the a load being carried on a movable object based on the state signal; wherein the state of the load is the result of combining the movement of the load relative to the movable object and the movement of the object relative to its environment. For example, the control of the state can be achieved through the state of the apparatus itself, a user&#39;s state captured by an apparatus, a graphical interface on a screen of an apparatus, or a voice command.

CROSS-REFERENCE

This application is a continuation application of InternationalApplication No. PCT/CN2014/071938 filed on Feb. 10, 2014, which claimspriority to International Application No. PCT/CN2013/080721 filed onAug. 2, 2013, which claims priority to Chinese Application No. CN201310330321.3. This application is also a continuation-in-part ofChinese Application No. CN 201310330321.3 filed on Jul. 31, 2013 andInternational Application No. PCT/CN2013/080721 filed on Aug. 2, 2013,which also claims priority to Chinese Application No. CN 201310330321.3filed on Jul. 31, 2013. The disclosures of these applications are herebyincorporated by reference in their entirety.

BACKGROUND OF THE INVENTION

In recent years, unmanned aerial vehicles (such as fixed-wing aircrafts,rotary-wing aircrafts including helicopters), motor vehicles, submarinesor ships, as well as satellites, space stations, spacecrafts and thelike have become widely utilized, for example, in the area ofsurveillance, search and rescue operations, and other fields.

These movable objects can be configured to carry payloads. The payloadsmay include imaging devices (cameras, video recorders, and the like),lighting devices, and other devices. Oftentimes, such payloads aredirectly coupled to the movable objects. In some instances, suchpayloads are coupled indirectly to the movable objects via carriers ormounting structures. Such carriers may include gimbal platforms. Thecarrier and the payload as a whole may be referred to as the load.

An aerial vehicle can be used to perform aerial photography via anaerial camera mounted on the aerial vehicle. Conventional camera'sshooting angles cannot change relative to the aerial vehicle, thislimiting their ability to conduct surveillance.

SUMMARY OF THE INVENTION

A need exists for a mechanism for remotely adjusting the position orposture of the payload relative to the movable object to which thepayload is directly or indirectly coupled so as to improve theflexibility and functionality of such systems. The present inventionaddresses this need and provides related advantages as well.

This application relates to a method and a terminal that remotelycontrols the state of a movable object and/or a load carried thereon.Specifically, this application relates to remotely controlling the stateof an aircraft, a submarine, a motor vehicle and/or a load carriedthereon.

Aspects of the invention are directed to a method of controllingpositioning of a payload, said method comprising: providing a payloadsupported by a carrier on a vehicle or living subject, wherein thepayload is movable relative to the vehicle or living subject via thecarrier about one or more axes of rotation; receiving, at a receiverpositioned on the carrier or the vehicle, from a terminal that is remoterelative to the vehicle or living subject, the carrier and the payload,a signal indicative of an attitude of the terminal; and moving thepayload relative to the vehicle or living subject about the one or moreaxes of rotation via actuation of the carrier in response to the signal.

In some embodiments, the payload is an image capturing device. Thevehicle may be an unmanned vehicle. Optionally, the unmanned vehicle canbe an unmanned aerial vehicle. The vehicle may be of a volume less than100 cm³.

The terminal may be a handheld object. The signal from the terminal maybe received at the receiver wirelessly. A user interface may be providedfor the terminal. The method may include displaying, on the userinterface, an image captured by the payload.

In some implementations, the payload is movable relative to the vehicleor living subject about a first axis of rotation and a second axis ofrotation. Movement of the payload relative to the vehicle or livingsubject can occur in response to an additional signal indicative of anattitude of the payload. The moving of the payload relative to thevehicle or living subject may occur about one or more of the following:pitch, roll, yaw axes. The vehicle or living subject can be movablerelative to a fixed reference frame about one or more of the following:pitch, roll, yaw axes.

The payload and carrier may be separable from one another.Alternatively, the payload and carrier can form an integral unit.

In accordance with additional aspects of the invention, a non-transitorycomputer readable medium containing program instructions for controllingpositioning of a payload supported by a carrier on a vehicle or livingsubject, wherein the payload is movable relative to the vehicle orliving subject via the carrier about one or more axes of rotation, maybe provided. Said computer readable medium may comprise: programinstructions for analyzing a signal indicative of an attitude of aterminal, said signal received by a receiver positioned on the carrieror the vehicle, from the terminal that is remote relative to the vehicleor living subject, the carrier and the payload; and program instructionsfor effecting movement of the payload relative to the vehicle or livingsubject about the one or more axes of rotation via actuation of thecarrier in response to the analyzed signal.

Optionally, the payload can be an image capturing device. The vehiclemay be an unmanned vehicle. In some cases, the unmanned vehicle is anunmanned aerial vehicle. The vehicle may be of a volume less than 100cm³.

The terminal may be a handheld object. The signal from the terminal maybe received at the receiver wirelessly. A user interface may be providedfor the terminal. The non-transitory computer readable medium mayinclude program instructions for displaying, on the user interface, animage captured by the payload.

In some implementations, the payload is movable relative to the vehicleor living subject about a first axis of rotation and a second axis ofrotation. Movement of the payload relative to the vehicle or livingsubject can occur in response to an additional signal indicative of anattitude of the payload. The moving of the payload relative to thevehicle or living subject may occur about one or more of the following:pitch, roll, yaw axes. The vehicle or living subject can be movablerelative to a fixed reference frame about one or more of the following:pitch, roll, yaw axes.

The payload and carrier may be separable from one another.Alternatively, the payload and carrier can form an integral unit.

Furthermore, aspects of the invention may be directed to a carrier forpositioning a payload, said carrier comprising: a frame assemblyconfigured to be attached to a vehicle or living subject, said frameassembly further being configured to support a payload, wherein thepayload is movable relative to the vehicle or living subject viaactuation of the frame assembly about one or more axes of rotation; areceiver configured to receive a signal from a terminal that is remoterelative to the vehicle or living subject, the frame assembly and thepayload, said signal indicative of an attitude of the terminal; and oneor more actuators in communication with the receiver, said one or moreactuators being configured to actuate one or more portions of the frameassembly, thereby moving the payload relative to the vehicle or livingsubject about the one or more axes of rotation in response to thesignal.

In some embodiments, the payload is an image capturing device. Thevehicle may be an unmanned vehicle. Optionally, the unmanned vehicle canbe an unmanned aerial vehicle. The vehicle may be of a volume less than100 cm³. The vehicle may weigh less than 15 kg.

The receiver may be configured to communicate with the terminalwirelessly. The terminal may be a handheld object.

One or more actuators may be configured to move the payload relative tothe vehicle or living subject about a first axis of rotation and asecond axis of rotation. The one or more actuators can be configured tomove the payload relative to the vehicle or living subject in responseto a signal indicative of an attitude of the payload. The one or moreactuators may be configured to move the payload relative to the vehicleor living subject about one or more of the following: pitch, roll, yawaxes.

A system for controlling positioning of a payload may be provided inaccordance with additional aspects of the invention. The system maycomprise: a carrier on a vehicle or living subject, said carriersupporting the payload, wherein the payload is movable relative to thevehicle or living subject via the carrier about one or more axes ofrotation; a terminal that is remote relative to the vehicle or livingsubject, the carrier and the payload, said terminal configured toprovide a signal indicative of an attitude of the terminal; and one ormore actuators of the carrier configured to move the payload relative tothe vehicle or living subject about the one or more axes of rotation inresponse to the signal.

The payload may be an image capturing device. In some embodiments, thevehicle is an unmanned vehicle. The unmanned vehicle may be an unmannedaerial vehicle. The vehicle may weigh less than 15 kg.

In accordance with some implementations, the terminal is a handheldobject. The terminal may communicate with the receiver wirelessly. Theterminal may have a user interface. The user interface may display animage captured by the payload.

The payload may be movable relative to the vehicle or living subjectabout a first axis of rotation and a second axis of rotation. The one ormore actuators of the carrier can be configured to move the payloadrelative to the vehicle or living subject in response to a signalindicative of an attitude of the payload. The payload may be movablerelative to the vehicle or living subject about one or more of thefollowing: pitch, roll, yaw axes. The vehicle or living subject may bemovable relative to a fixed reference frame about one or more of thefollowing: pitch, roll, yaw axes.

Optionally, the payload and carrier are separable from one another.Alternatively, the payload and carrier form an integral unit.

Aspects of the invention may also be directed to a method of controllingpositioning of a payload, said method comprising: providing a payloadsupported by a carrier on a movable object, wherein the payload isrotatable relative to the movable object via the carrier about one ormore axes of rotation, and the movable object is movable relative to atarget; receiving, at a receiver positioned on the carrier or themovable object, from a terminal that is remote relative to the movableobject, the carrier and the payload, a signal indicative of an attitudeof the terminal; determining, with aid of a processor and in response tothe signal (1) whether to rotate the payload relative to the movableobject, and (2) whether to move the movable object relative to thetarget; and moving at least one of (1) the payload relative to themovable object via actuation of the carrier or (2) the movable objectrelative to the target, in response to said determination.

The payload may be an image capturing device and the target can be afield of view imaged by the image capturing device. The method mayinclude controlling the size of the field of view without regard to theattitude of the terminal. The size of the field of view can becontrolled via a touch interaction with a user interface displayed onthe terminal.

In some embodiments, the payload is rotated relative to the target aboutone or more axes of rotation with aid of a motor. The one or more axesmay be selected from one or more of the following: pitch, roll, or yawaxes. The movable object can be rotated relative to a target about oneor more axes of rotation. The one or more axes of rotation are selectedfrom one or more of the following: pitch, roll, yaw axes. The movableobject may be moved relative to the target via actuation of one or moremotors of the movable object. The actuation of the one or more motors ofthe movable object may cause movement of one or more rotatable bladesthat provide lift to the movable object.

The movable object may be an unmanned aerial vehicle.

In some embodiments, the determination is made said processor at saidcarrier. Alternatively, the determination can be made by said processorat said terminal. In some instances, said determination may be made bysaid processor at an external device in communication with the terminaland the carrier.

Aspects of the invention may provide a non-transitory computer readablemedium containing program instructions for controlling positioning of apayload supported by a carrier on a movable object, wherein the payloadis rotatable relative to the movable object via the carrier about one ormore axes of rotation, and the movable object is movable relative to atarget, said computer readable medium comprising: program instructionsfor analyzing a signal indicative of an attitude of a terminal, saidsignal received by a receiver positioned on the carrier or the movableobject, from the terminal that is remote relative to the movable object,the carrier and the payload; program instructions for determining, withaid of a processor and in response to the analyzed signal (1) whether torotate the payload relative to the movable object, and (2) whether tomove the movable object relative to the target; and program instructionsfor effecting movement of at least one of (1) the payload relative tothe movable object via actuation of the carrier or (2) the movableobject relative to the target, in response to said determination.

The payload may be an image capturing device and the target may be afield of view imaged by the image capturing device. The non-transitorycomputer readable medium may include program instructions forcontrolling the size of the field of view without regard to the attitudeof the terminal. The non-transitory computer readable medium may alsocomprise program instructions for controlling the size of the field ofview via a touch interaction with a user interface displayed on theterminal.

In some embodiments, the payload is rotated relative to the target aboutone or more of the following axes: pitch, roll, or yaw axes. Thenon-transitory computer readable medium may include program instructionsfor effecting rotation of the movable object relative to a target aboutone or more axes of rotation. The one or more axes of rotation may beselected from one or more of the following: pitch, roll, yaw axes. Thenon-transitory computer readable medium may further include programinstructions for effecting movement of the movable object relative tothe target via actuation of one or more motors of the movable object.The actuation of the one or more motors of the movable object can causemovement of one or more rotatable blades that provide lift to themovable object.

The movable object may be an unmanned aerial vehicle.

In some implementations, the determination is made said processor atsaid carrier. In other implementations the determination is made by saidprocessor at said terminal. Alternatively, said determination can bemade by said processor at an external device in communication with theterminal and the carrier.

A system for controlling positioning of a payload may be provided inaccordance with additional aspects of the invention. The system maycomprise: a carrier on a movable object, said carrier supporting thepayload, wherein the payload is rotatable relative to the movable objectvia the carrier about one or more axes of rotation, and the movableobject is movable relative to a target; a receiver configured to receivea signal from a terminal that is remote relative to the movable object,the carrier and the payload, said signal indicative of an attitude ofthe terminal; a processor that determines in response to the signal (1)whether to rotate the payload relative to the movable object, and (2)whether to move the movable object relative to the target; and one ormore actuators in communication with the processor and configured toactuate at least one of (1) the payload relative to the movable objectvia actuation of the carrier or (2) the movable object relative to thetarget, in response to said determination.

The payload may be an image capturing device and the target may be afield of view imaged by the image capturing device. In some embodiments,the size of the field of view is controlled without regard to theattitude of the terminal. The size of the field of view may becontrolled via a touch interaction with a user interface displayed onthe terminal.

The payload can be moved relative to the target about one or more axesof rotation. The one or more actuators may be one or more motors thatcause at least one portion of the carrier to rotate about an axis ofrotation. The axis of rotation may be a pitch, roll, or yaw axis. Themovable object may be rotatable relative to a target about one or moreaxes of rotation. The one or more axes of rotation can be selected fromone or more of the following: pitch, roll, yaw axes. The movable objectmay be movable relative to the target via actuation of one or moremotors of the movable object. The actuation of the one or more motors ofthe movable object can cause movement of one or more rotatable bladesthat provide lift to the movable object.

In some embodiments, the movable object is an unmanned aerial vehicle.

Optionally, said processor is at said carrier. In another example, saidprocessor is at said terminal. Otherwise, said processor can be at anexternal device in communication with the terminal and the carrier.

Additionally, aspects of the invention may be directed to a method ofcontrolling an image capturing device, said method comprising: providingthe image capturing device supported by a carrier on a movable object,wherein the image capturing device is movable relative to the movableobject via the carrier, and the movable object is movable relative to atarget; receiving, at a receiver positioned on the carrier or themovable object, from a terminal that is remote relative to the movableobject, the carrier and the image capturing device, a signal indicativeof a touch interaction between a user and a user interface of theterminal; determining, with aid of a processor and in response to thesignal (1) whether to move the image capturing device relative to themovable object or whether to adjust the focal length of the imagecapturing device, and (2) whether to move the movable object relative tothe target; and effecting at least one of (1) movement of the payloadrelative to the movable object via actuation of the carrier, (2)adjustment of the focal length of the image capturing device, or (3)movement of the movable object relative to the target, in response tosaid determination.

The target may be a field of view imaged by the image capturing device.The size of the field of view may be controlled based on said signal.The signal may be indicative of a finger pinch or spread on the userinterface. The method may include controlling the placement of the fieldof view based on said signal. The signal may be indicative of a fingerswipe across the user interface.

The method may further comprise displaying, on the user interface, thefield of view imaged by the image capturing device. The method may alsoinclude generating said signal indicative of the touch interaction byaltering the image displayed on the user interface via finger pinch,spread, or swipe.

The image capturing device can be moved relative to the movable objectabout one or more axes of rotation. The image capturing device may bemoved with aid of a motor of the carrier. The movable object may berotated relative to a target about one or more axes of rotation. Themovable object can be moved relative to the target via actuation of oneor more motors of the movable object. The actuation of the one or moremotors of the movable object can cause movement of one or more rotatableblades that provide loft to the movable object.

The movable object may be an unmanned aerial vehicle.

In some embodiments, the determination is made said processor at saidcarrier. In other embodiments, said determination is made by saidprocessor at said terminal. Said determination can alternatively be madeby said processor at an external device in communication with theterminal and the carrier.

Aspects of the invention may also include a non-transitory computerreadable medium containing program instructions for controlling an imagecapturing device supported by a carrier on a movable object, wherein theimage capturing device is movable relative to the movable object via thecarrier, and the movable object is movable relative to a target, saidcomputer readable medium comprising: program instructions for analyzinga signal indicative of a touch interaction between a user and a userinterface of a terminal, said signal received by a receiver positionedon the carrier or the movable object, from the terminal that is remoterelative to the movable object, the carrier and the image capturingdevice; program instructions for determining, with aid of a processorand in response to the analyzed signal (1) whether to move the imagecapturing device relative to the movable object or whether to adjust thefocal length of the image capturing device, and (2) whether to move themovable object relative to the target; and program instructions foreffecting at least one of (1) movement of the payload relative to themovable object via actuation of the carrier, (2) adjustment of the focallength of the image capturing device, or (3) movement of the movableobject relative to the target, in response to said determination.

The target may be a field of view imaged by the image capturing device.The non-transitory computer readable medium may include programinstructions for controlling the size of the field of view based on saidsignal. The signal can be indicative of a finger pinch or spread on theuser interface. The non-transitory computer readable medium may furthercomprise program instructions for controlling the placement of the fieldof view based on said signal. The signal may be indicative of a fingerswipe across the user interface.

The non-transitory computer readable medium may include programinstructions for displaying, on the user interface, the field of viewimaged by the image capturing device. Program instructions may also beprovided for generating said signal indicative of the touch interactionby altering the image displayed on the user interface via finger pinch,spread, or swipe.

The image capturing device can be moved relative to the movable objectabout one or more axes of rotation. The movable object may be rotatedrelative to a target about one or more axes of rotation. Thenon-transitory computer readable medium may include program instructionsfor effecting actuation of one or more motors of the movable object tocause movement of one or more rotatable blades that provide lift to themovable object.

The movable object may be an unmanned aerial vehicle.

Optionally, said determination is made said processor at said carrier.In other instances, said determination is made by said processor at saidterminal. Alternatively, said determination is made by said processor atan external device in communication with the terminal and the carrier.

A system for controlling an image capturing device may be provided inaccordance with other aspects of the invention, said system comprising:a carrier on a movable object, said carrier supporting the imagecapturing device, wherein the image capturing device is movable relativeto the movable object via the carrier, and the movable object is movablerelative to a target; a receiver configured to receive a signal from aterminal that is remote relative to the movable object, the carrier andthe image capturing device, said signal indicative of a touchinteraction between a user and a user interface of the terminal; aprocessor that determines in response to the signal (1) whether to movethe image capturing device relative to the movable object or whether toadjust the focal length of the image capturing device, and (2) whetherto move the movable object relative to the target; and one or moreactuators in communication with the processor and configured to effectat least one of (1) movement of the image capturing device relative tothe movable object via actuation of the carrier, (2) adjustment of thefocal length of the image capturing device, or (3) movement of themovable object relative to the target, in response to saiddetermination.

The target may be a field of view imaged by the image capturing device.The size of the field of view can be controlled based on said signal.The signal may be indicative of a finger pinch or spread on the userinterface. The placement of the field of view can be controlled based onsaid signal. The signal may be indicative of a finger swipe across theuser interface.

The user interface may display the field of view imaged by the imagecapturing device. The signal indicative of the touch interaction can begenerated by altering the image displayed on the user interface viafinger pinch, spread, or swipe.

The image capturing device can be moved relative to the movable objectabout one or more axes of rotation. The movable object may be movedrelative to the target about one or more axes of rotation. In someembodiments, the actuator is a motor that causes at least one portion ofthe carrier to rotate about an axis of rotation. The movable object maybe rotatable relative to a target about one or more axes of rotation.The movable object may be moved relative to the target via actuation ofone or more motors of the movable object. The actuation of the one ormore motors of the movable object can cause movement of one or morerotatable blades that provide loft to the movable object.

In some implementations, the movable object is an unmanned aerialvehicle.

The processor may be provided at said carrier. In other instances, theprocessor is at said terminal. Alternatively the processor is at anexternal device in communication with the terminal and the carrier.

Aspects of the invention may also include a method of controllingpositioning of a payload, said method comprising: providing a payloadsupported by a carrier on a vehicle or a living subject, wherein thepayload is movable about one or more axes of rotation; receiving, at areceiver positioned on the carrier or the vehicle, from a terminal thatis configured to be worn by a user, said terminal having an extension tosecure the terminal to a portion of the user's body, and said terminalbeing remote relative to the vehicle or the living subject, the carrierand the payload, a signal indicative of an attitude of the terminal; andmoving the payload about the one or more axes of rotation in response tothe signal.

The terminal can be configured to be worn on the user's head and theextension secures the terminal to the user's head. The terminal may be ahelmet. The terminal can be supported by the user's nose and/or ears.The terminal may be formed of gloves.

The payload may be an image capturing device.

In some embodiments, the vehicle is an unmanned aerial vehicle.

The living subject may be a mammal. The living subject can be a human.In some instances, the living subject is an animal. The living subjectmay be substantially mobile.

In some embodiments, moving the payload includes moving the payloadrelative to the vehicle or the living subject via actuation of thecarrier. Moving the payload may include moving the vehicle about one ormore axes of rotation.

In accordance with aspects of the invention a non-transitory computerreadable medium containing program instructions for controllingpositioning of a payload supported by a carrier on a vehicle or a livingsubject, wherein the payload is movable about one or more axes ofrotation may be provided. The computer readable medium may comprise:program instructions for analyzing a signal indicative of an attitude ofa terminal, said signal received by a receiver positioned on the carrieror the vehicle, from the terminal that is configured to be worn by auser, said terminal having an extension to secure the terminal to aportion of the user's body, and said terminal being remote relative tothe vehicle or the living subject, the carrier and the payload; andprogram instructions for effecting movement the payload about the one ormore axes of rotation in response to the analyzed signal.

The terminal may be configured to be worn on the user's head and theextension may secure the terminal to the user's head. The terminal maybe a helmet. The terminal can be supported by the user's nose and/orears. The terminal may be formed of gloves.

The payload may be an image capturing device.

The vehicle may be an unmanned aerial vehicle.

The living subject may be a mammal. The living subject can be a human.In some instances, the living subject is an animal. The living subjectmay be substantially mobile.

In some embodiments, the program instructions for effecting movement ofthe payload includes program instructions for effecting movement of thepayload relative to the vehicle or the living subject via actuation ofthe carrier. The program instructions for effecting movement of thepayload may include program instructions for effecting movement of thevehicle about one or more axes of rotation.

Moreover, aspects of the invention may include a system for controllingpositioning of a payload, said system comprising: a carrier on a vehicleor a living subject, said carrier supporting the payload, wherein thepayload is movable about one or more axes of rotation; a receiverconfigured to receive a signal from a terminal that is configured to beworn by a user, said terminal having an extension to secure the terminalto a portion of the user's body, and said terminal being remote relativeto the vehicle or the living subject, the carrier and the payload, saidsignal indicative of an attitude of the terminal; and one or moreactuators in communication with the receiver and configured to move thepayload about the one or more axes of rotation in response to thesignal.

The terminal can be configured to be worn on the user's head and theextension secures the terminal to the user's head. The terminal may be ahelmet. The terminal can be supported by the user's nose and/or ears.The terminal may be formed of gloves.

The payload may be an image capturing device.

In some embodiments, the vehicle is an unmanned aerial vehicle.

The living subject may be a mammal. The living subject can be a human.In some instances, the living subject is an animal. The living subjectmay be substantially mobile.

The one or more actuators may be configured to move the payload relativeto the vehicle or living subject. The one or more actuators can beconfigured to move the vehicle about one or more axes of rotation.

In some aspects, the invention may include a method of controllingpositioning of a payload, said method comprising: providing a payloadsupported by a carrier on a vehicle or living subject, wherein thepayload is movable about one or more axes of rotation; receiving, at areceiver positioned on the carrier or the vehicle, from an image capturedevice of a terminal that is remote relative to the movable object, thecarrier and the payload, a signal indicative of an image captured by theimage capture device; and moving the payload about the one or more axesof rotation in response to the signal.

The payload may be another image capturing device.

In some embodiments, the vehicle is an unmanned aerial vehicle.

The image capture device may be integrated into the terminal.Alternatively, the image capture device may be physically separate fromthe terminal and is in communication with the terminal.

In some embodiments, the signal is indicative of eye movements by a userof the terminal. In other implementations, the signal is indicative of agesture by a user of the terminal. The signal may be indicative of afacial expression of a user of the terminal.

Moving the payload may include moving the payload relative to thevehicle or living subject via actuation of the carrier. Moving thepayload can include moving the vehicle about one or more axes ofrotation.

The method includes receiving, at the receiver, a signal indicative ofan audio signal captured by an audio sensor.

Additional aspects of the invention may be directed to a non-transitorycomputer readable medium containing program instructions for controllingpositioning of a payload supported by a carrier on a vehicle or livingsubject, wherein the payload is movable about one or more axes ofrotation, said computer readable medium comprising: program instructionsfor analyzing a signal indicative of an image captured by an imagecapture device of a terminal, said signal received by a receiverpositioned on the carrier or the vehicle, from the image capture deviceof the terminal that is remote relative to the movable object, thecarrier and the payload; and program instructions for effecting movementof the payload about the one or more axes of rotation in response to theanalyzed signal.

The payload may be another image capturing device.

In some embodiments, the vehicle is an unmanned aerial vehicle.

The image capture device may be integrated into the terminal.Alternatively, the image capture device may be physically separate fromthe terminal and is in communication with the terminal.

In some embodiments, the signal is indicative of eye movements by a userof the terminal. In other implementations, the signal is indicative of agesture by a user of the terminal. The signal may be indicative of afacial expression of a user of the terminal.

Program instructions for effecting movement of the payload may includeprogram instructions for moving the payload relative to the vehicle orliving subject via actuation of the carrier. Program instructions foreffecting movement of the payload can include program instructions formoving the vehicle about one or more axes of rotation.

The non-transitory computer readable medium may include programinstructions for analyzing a signal indicative of an audio signalcaptured by an audio sensor, said signal received by the receiver.

In accordance with aspects of the invention, a system may be providedfor controlling positioning of a payload, said system comprising: acarrier on a vehicle or living subject, said carrier supporting thepayload, wherein the payload is movable about one or more axes ofrotation; a receiver configured to receive a signal from a terminal thatis remote relative to the movable object, the carrier and the payload,said signal indicative of an image captured by an image capture deviceof the terminal; and one or more actuators in communication with thereceiver and configured to move the payload about the one or more axesof rotation in response to the signal.

The payload may be another image capturing device.

In some embodiments, the vehicle is an unmanned aerial vehicle.

The image capture device may be integrated into the terminal.Alternatively, the image capture device may be physically separate fromthe terminal and is in communication with the terminal.

In some embodiments, the signal is indicative of eye movements by a userof the terminal. In other implementations, the signal is indicative of agesture by a user of the terminal. The signal may be indicative of afacial expression of a user of the terminal.

The one or more actuators may be configured to move the payload relativeto the vehicle or living subject. The one or more actuators may beconfigured to move the vehicle about one or more axes of rotation. Thereceiver may be configured to receive a signal indicative of an audiosignal captured by an audio sensor.

Also, aspects of the invention may provide a method of controllingpositioning of a payload supported by a carrier on a movable object,said method comprising: receiving, at a receiver positioned on thecarrier or the movable object, a signal from a sensor indicative of anattitude of a terminal, said terminal being remote relative to thepayload; determining whether the attitude of the terminal falls within apredetermined angle range; and varying and/or maintaining a rotationalattribute of the payload in response to the signal indicative of theattitude of the terminal, wherein the attitude of the terminal controlsa first rotational attribute of the payload when the attitude of theterminal falls within the predetermined range, and wherein the attitudeof the terminal controls a second rotational attribute of the payloadwhen the attitude of the terminal falls outside the predetermined range.

In some embodiments, the first rotational attribute is a rotationalposition. The second rotational attribute may be a rotational speed.

The terminal may be a handheld device. The terminal may be configured tobe worn on a user's head. The terminal may comprise a display showing auser interface with a range of angles and a visual indicator of theattitude of the terminal within the range of angles. The method mayinclude displaying, on the user interface, a subset of the range ofangles in a visually discernible manner as the predetermined range. Therange of angles may be displayed as a slider bar and the visualindicator is positioned within the slider bar.

In some instances, the movable object is an unmanned aerial vehicle. Thepayload may be an image capturing device.

A non-transitory computer readable medium may be provided in accordancewith aspects of the invention. The non-transitory computer readablemedium may contain program instructions for controlling positioning of apayload supported by a carrier on a movable object, and said computerreadable medium may comprise: program instructions for analyzing asignal from a sensor indicative of an attitude of a terminal, saidsignal received by a receiver positioned on the carrier or the movableobject, said terminal being remote relative to the payload; programinstructions for determining whether the attitude of the terminal fallswithin a predetermined angle range; and program instructions foreffecting variation and/or maintenance of a rotational attribute of thepayload in response to the signal indicative of the attitude of theterminal, wherein the attitude of the terminal controls a firstrotational attribute of the payload when the attitude of the terminalfalls within the predetermined range, and wherein the attitude of theterminal controls a second rotational attribute of the payload when theattitude of the terminal falls outside the predetermined range.

In some embodiments, the first rotational attribute is a rotationalposition. The second rotational attribute may be a rotational speed.

The terminal may be a handheld device. The terminal may be configured tobe worn on a user's head. The terminal may comprise a display showing auser interface with a range of angles and a visual indicator of theattitude of the terminal within the range of angles. Programinstructions may be provided for displaying, on the user interface, asubset of the range of angles in a visually discernible manner as thepredetermined range. The range of angles may be displayed as a sliderbar and the visual indicator is positioned within the slider bar.

In some instances, the movable object is an unmanned aerial vehicle. Thepayload may be an image capturing device.

Additional aspects of the invention may include a method of controllingpositioning of a payload, said method comprising: displaying, on a userinterface of a terminal, at least one visual selector that causescontrol of the payload position via the terminal to be turned on or off;receiving, at the terminal, a signal from a sensor indicative of theattitude of the terminal; and displaying, on the user interface of theterminal, at least one attitude range indicator having a first regionand a second region visually discernible from the first region, saidattitude range indicator having a visual indicator of the attitude ofthe terminal in response to said signal.

The visual selector may be an on-off button that a user selects orde-selects, thereby turning the control of the payload via the terminalon or off respectively.

The payload may be an image capturing device. The payload can besupported by a carrier on a movable object. The movable object may be anunmanned aerial vehicle.

The method may include permitting the user to interact with the userinterface via a touchscreen. The method may further include displayingan additional visual selector, wherein the at least one visual selectorturns on and off the control of the payload with respect to a pitchrotation, and wherein the additional visual selector turns on and offcontrol of the payload with respect to a roll rotation. The visualindicator of the attitude of the payload may be indicative of the pitchangle of the payload. The method may further include displaying anadditional attitude range indicator having a first region and a secondregion visually discernible from the first region, said attitude rangeindicator having a visual indicator of the roll angle of the payload inresponse to said signal.

A non-transitory computer readable medium containing programinstructions for controlling positioning of a payload, said computerreadable medium comprising: program instructions for displaying, on auser interface of a terminal, at least one visual selector that causescontrol of the payload position via the terminal to be turned on or off;program instructions for analyzing a signal from a sensor indicative ofthe attitude of the terminal, said signal received by the terminal; andprogram instructions for displaying, on the user interface of theterminal, at least one attitude range indicator having a first regionand a second region visually discernible from the first region, saidattitude range indicator having a visual indicator of the attitude ofthe terminal in response to said signal.

The visual selector may be an on-off button that a user selects orde-selects, thereby turning the control of the payload via the terminalon or off respectively.

The payload may be an image capturing device. The payload can besupported by a carrier on a movable object. The movable object may be anunmanned aerial vehicle.

The non-transitory computer readable medium may include programinstructions for analyzing user interaction with the user interface viaa touchscreen. The non-transitory computer readable medium may alsoinclude program instructions for displaying an additional visualselector, wherein the at least one visual selector turns on and off thecontrol of the payload with respect to a pitch rotation, and wherein theadditional visual selector turns on and off control of the payload withrespect to a roll rotation. The visual indicator of the attitude of thepayload may be indicative of the pitch angle of the payload. Thenon-transitory computer readable medium may comprise programinstructions for displaying an additional attitude range indicatorhaving a first region and a second region visually discernible from thefirst region, said attitude range indicator having a visual indicator ofthe roll angle of the payload in response to said signal.

Aspects of the invention may also be directed to a terminal forcontrolling positioning of a payload, said terminal comprising: adisplay showing a user interface of a terminal, said user interfaceshowing at least one visual selector that causes control of the payloadposition via the terminal to be turned on or off; and a receiverconfigured to receive a signal from a sensor indicative of the attitudeof the terminal, wherein the user interface further displays at leastone attitude range indicator having a first region and a second regionvisually discernible from the first region, said attitude rangeindicator having a visual indicator of the attitude of the terminal inresponse to said signal.

The visual selector may be an on-off button that a user selects orde-selects, thereby turning the control of the payload via the terminalon or off respectively. The display may be a touchscreen and wherein theuser may interact with the user interface via the touchscreen. The userinterface may further show an additional visual selector, wherein the atleast one visual selector turns on and off the control of the payloadwith respect to a pitch rotation, and wherein the additional visualselector turns on and off control of the payload with respect to a rollrotation. The visual indicator of the attitude of the payload may beindicative of the pitch angle of the payload. The user interface mayfurther show an additional attitude range indicator having a firstregion and a second region visually discernible from the first region,said attitude range indicator having a visual indicator of the rollangle of the payload in response to said signal.

The terminal may have an image capturing device configured to capture animage of the user when the user is interacting with the user interface.The terminal may also have an audio sensor configured to capture audiosignals from the user when the user is interacting with the terminal.The terminal may be handheld.

Furthermore, aspects of the invention may include a method ofcontrolling positioning of a payload, said method comprising: providinga payload supported by a carrier on a vehicle or living subject, whereinthe payload is movable relative to the vehicle or living subject via thecarrier about one or more axes of rotation, and wherein the carriercomprises one or more frame components and one or more actuators;receiving, at a receiver positioned on the carrier or the vehicle, asignal from a terminal that is remote relative to the vehicle or livingsubject, the carrier and the payload; and moving the payload relative tothe vehicle or living subject about the one or more axes of rotation viamovement of the one or more frame components driven by the one or moreactuators of the carrier in response to the signal.

The one or more frame components may be gimbals. The one or more framecomponents may be three gimbals connected to one another at orthogonalpivot axes.

In some embodiments, the vehicle is an unmanned aerial vehicle.

The signal from the terminal may be indicative of an attitude of theterminal. The signal from the terminal can be indicative of an input bya user of the terminal.

A non-transitory computer readable medium may be provided in accordancewith aspects of the invention, said non-transitory computer readablemedium containing program instructions for controlling positioning of apayload supported by a carrier on a vehicle or living subject, whereinthe payload is movable relative to the vehicle or living subject via thecarrier about one or more axes of rotation, and wherein the carriercomprises one or more frame components and one or more actuators, andsaid computer readable medium comprising: program instructions foranalyzing a signal indicative of an attitude of a terminal, said signalreceived by a receiver positioned on the carrier or the vehicle, fromthe terminal that is remote relative to the vehicle or living subject,the carrier and the payload; and program instructions for effectingmovement of the payload relative to the vehicle or living subject aboutthe one or more axes of rotation via movement of the one or more framecomponents driven by the one or more actuators of the carrier inresponse to the signal.

The one or more frame components may be gimbals. The one or more framecomponents may be three gimbals connected to one another at orthogonalpivot axes. The vehicle can be an unmanned aerial vehicle.

The signal from the terminal may be indicative of an attitude of theterminal. In some embodiments, the signal from the terminal isindicative of an input by a user of the terminal.

In accordance with aspects of the invention, a carrier for positioning apayload may be provided. The carrier may comprise: one or more framecomponents configured to be attached to a vehicle or living subject,said one or more frame components further being configured to support apayload, wherein the payload is movable relative to the vehicle orliving subject via actuation of the one or more frame components aboutone or more axes of rotation; a receiver configured to receive a signalfrom a terminal that is remote relative to the vehicle or livingsubject, the frame assembly and the payload; and one or more actuatorsin communication with the receiver, said one or more actuators beingconfigured to actuate the one or more frame components, thereby movingthe payload relative to the vehicle or living subject about the one ormore axes of rotation in response to the signal.

The one or more frame components may be gimbals. The one or more framecomponents can be three gimbals connected to one another at orthogonalpivot axes.

In some instances, the vehicle is an unmanned aerial vehicle.

The signal from the terminal may be indicative of an attitude of theterminal. The signal from the terminal can optionally be indicative ofan input by a user of the terminal.

One aspect of the present disclosure is a remote-control method,comprising: receiving via a terminal a state signal that corresponds toa user's position; remote-controlling the state of the a load beingcarried on a movable object based on the state signal; wherein the stateof the load is the result of superimposing the movement of the loadrelative to the movable object and the movement of the object relativeto its environment.

In some embodiments, the load comprises a carrier, and controlling thestate of the load based on the state signal is controlling the state ofthe carrier based on state signal.

In some embodiments, the load further comprises a payload, wherein thepayload couples with the carrier, wherein controlling the state of thecarrier based on the state signal comprises controlling thesuperimposition of the state of the payload relative to the carrier, thestate of the carrier relative to the movable object and the state of themovable object relative to its environment.

In some embodiments, the movable object is an aircraft; the carrier is acradle head capable of pointing and stabilization; and the payload is acamera.

In some embodiments, the load comprises the payload; controlling thestate of the load based on the state signal comprises controlling thesuperimposition of the state of the payload, wherein the state of thepayload is the superimposition of the state of the payload relative tothe movable object and the state of the movable object relative to itsenvironment.

In some embodiments, the terminal comprises a built-in or add-on statesensor, configured to generate state signals corresponding to the stateof the user.

In some embodiments, the sensor is an inertia measurement unit, anacceleration sensor, an angular velocity sensor, or a magnetometer or anattitude reference system.

In some embodiments, the terminal is a smart phone, tablet computer, ora dedicated video-enabled remote control.

In some embodiments, the state of the terminal comprises relative orabsolute pitch, yaw and roll, wherein the state of the terminalcorresponds to the relative and absolute pitch, yaw and roll of thearticle.

In some embodiments, the received signal is a state signal correspondingto the head movement of the user, and the terminal comprises a pair ofglasses or a helmet.

In some embodiments, the state signal corresponding to the state of theuser is an image signal, a touching signal from a touch-screen of theterminal, or a voice signal; wherein the image signal is a state signalof the user obtained by a camera contained in the terminal, the obtainedstate signal comprises touch screen signal generated by the sliding ofthe user's finger on the touch screen, body posture, head posture,direction of the user's eyesight or a combination thereof; wherein thetouch screen signal is generated by different hand gestures comprisingpaddling, circling, and zooming in/out.

In some embodiments, the payload comprises one or more cameras, thestate of the payload relative to the carrier comprises the focal lengthof the one of more cameras, wherein the method further comprises usingthe state signal to control a superimposition of the distance betweenthe movable object and a target and the focal length of the camera.

In some embodiments, the method further comprises filtering out statesignals generated by inadvertent movement of the user and state signalsthat may generate unsafe movement of the movable object.

Another aspect of the present disclosure is a terminal, comprising: asensor sensing the state of the user and generating corresponding statesignal; a signal processing module converting the state signal to acontrol signal; a signal transmitting module transmitting the statesignal directly or indirectly to the movable object in order to controlthe position status of the load carried on the movable object based onposition status of the user; a human-machine interface to feedback theresult generated by the control signal; wherein the state of the load isthe superimposition of the article's state of the load relative to themovable object and the state of the movable object relative to itsenvironment.

In some embodiments, the sensor is an inertia measurement unit, anacceleration sensor, an angular velocity sensor, or a magnetometer or anattitude reference system.

In some embodiments, the terminal is a smart phone, tablet computer, ora dedicated video-enabled remote control.

In some embodiments, the state of the terminal comprises relative orabsolute pitch, yaw and roll, wherein the state of the terminalcorresponds to the relative and absolute pitch, yaw and roll of thearticle.

In some embodiments, the position status signal corresponding to theuser's position status is a state signal corresponding to the headmovement of the user, and the terminal comprises a pair of glasses or ahelmet.

In some embodiments, the state signal is an image signal, a touchingsignal from a touch-screen of the terminal, or a voice signal; whereinthe image signal is a state signal of the user obtained by a cameracontained in the terminal, the obtained state signal comprises touchscreen signal generated by the sliding of the user's finger on the touchscreen, body posture, head posture, direction of the user's eyesight ora combination thereof; wherein the touch screen signal is generated bydifferent hand gestures comprising paddling, circling, and zoomingin/out.

In some embodiments, the payload comprises one or more cameras, thestate of the payload relative to the carrier comprises the focal lengthof the one of more cameras, wherein the method further comprises usingthe state signal to control a superimposition of the distance betweenthe movable object and a target and the focal length of the camera.

Another aspect of the present disclosure is a remote-control method,comprising: converting a state of a user into a state signal;controlling the state of a load being carried on a movable object viathe state signal; wherein the state of the user is the sliding of theuser's one or more fingers sliding on a touch screen, state of theuser's one or more limbs; state of the user's head, direction of theuser's eyesight, the user's voice, or a combination thereof; the usercontrolling the state of the terminal; wherein the state of the load isat least one of the following: the state of the load relative to themovable object, the state of the movable object relative to itsenvironment, and the superimposition of the state of the load relativeto the movable object and the state of the movable object relative toits environment.

In some embodiments, the load comprises a carrier and a payload, themethod further comprising: controlling the superimposition of the stateof the payload relative to the carrier, the state of carrier relative tothe movable object, and the state of the movable object relative to itsenvironment.

In some embodiments, the terminal is a smart phone or a tablet computer,the movable object is an aircraft, the payload comprising one or morecameras, the method further comprising: controlling the aircraft or thecamera's pitch, roll and yaw based on the pitch, roll and yaw of thesmart phone or the tablet computer.

In some embodiments, terminal is a touch screen smart phone or tabletcomputer, the movable objects is an aircraft, the carrier comprises oneor more cameras, the method further comprising: sliding of the user'sfinger left and right on the touch screen controlling the left and rightorientation of camera and/or the aircraft; wherein a feedback image onthe touch screen scrolls accordingly.

In some embodiments, the carrier comprises one or more cameras, thestate of the payload relative to the carrier comprises the focal lengthof the camera, the method further comprising: with respect to the statevector includes a camera focal length, the method further comprising: auser's finger slide zoom in/out gesture control signal corresponding toat least one of the following: controlling at least one of the followingvia the sliding or zooming in/out by the user's finger: the distancebetween the movable object and a target; the focal length of the camera;a superimposition of the distance between the movable object and atarget and the focal length of the camera; receiving the correspondingpulling in and pushing away of a feedback image.

In some embodiments, the method further comprising: controlling the rateof change of the load's state by controlling the rate of change of theterminal's state.

In some embodiments, the movable object is an aircraft, a vehicle, avessel, a lever, a supporting rod, or a combination thereof, whereincontrolling the state of the movable object relative to its environmentis achieved through human power, artificial intelligence or mechanicalmeans.

Additional aspects and advantages of the present disclosure will becomereadily apparent to those skilled in this art from the followingdetailed description, wherein only exemplary embodiments of the presentdisclosure are shown and described, simply by way of illustration of thebest mode contemplated for carrying out the present disclosure. As willbe realized, the present disclosure is capable of other and differentembodiments, and its several details are capable of modifications invarious obvious respects, all without departing from the disclosure.Accordingly, the drawings and description are to be regarded asillustrative in nature, and not as restrictive.

INCORPORATION BY REFERENCE

All publications, patents, and patent applications mentioned in thisspecification are herein incorporated by reference to the same extent asif each individual publication, patent, or patent application wasspecifically and individually indicated to be incorporated by reference.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features of the invention are set forth with particularity inthe appended claims. A better understanding of the features andadvantages of the present invention will be obtained by reference to thefollowing detailed description that sets forth illustrative embodiments,in which the principles of the invention are utilized, and theaccompanying drawings of which:

FIG. 1 is a schematic diagram of the remote control method controlling astate of payload.

FIG. 2 is a schematic diagram of the sensor sensing the states ofvarious objects.

FIG. 3 is a diagram of a software user interface of a single-axiscarrier.

FIG. 4 is a diagram of a software user interface of a two-axis carrier.

FIG. 5 is a diagram of a software user interface of a button-operatedcarrier.

FIG. 6 is a schematic diagram of a virtual joystick.

FIG. 7 is a diagram illustrating the method of controlling a state of apayload via a touch implementation.

FIG. 8 is a diagram illustrating the method of controlling a state of anobject without using a touch implementation.

FIG. 9 is a schematic diagram of controlling a state of an object viavoice.

FIG. 10 is a schematic diagram of controlling the state of object via apair of glasses.

FIG. 11 is a schematic diagram of controlling a state via a helmet.

FIG. 12 is a diagram showing a state with respect to the environment.

FIG. 13 is a block diagram for a terminal.

FIG. 14 is a diagram illustrating how in some embodiments a stick-typemovable object is controlled via a terminal.

FIG. 15 is an example of a user interface that be shown on the terminal.

FIG. 16 is another example of a user interface that can be shown on theterminal.

DETAILED DESCRIPTION OF THE INVENTION

While preferable embodiments of the invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention.

The invention provides systems and methods for controlling positioningof a payload. Various aspects of the invention described herein may beapplied to any of the particular applications set forth below or for anyother types of movable object control. The invention may be applied as astandalone device, or as part of an integrated remote communicationsystem. It shall be understood that different aspects of the inventioncan be appreciated individually, collectively, or in combination witheach other.

The disclosed technologies in this application can be applied to movableobjects such as air-based movable objects (for example, fixed-wingaircraft such as airplanes or gliders, or rotorcraft such ashelicopters, or other aircraft such as blimps or balloons), water-basedmovable objects (such as submarines, boats, or ships), ground-basedmovable objects (such as motor vehicles such as cars, motorcycles,buses, trucks, vans; a stick such as a fishing pole or other type ofmovable support or frame; trains; subways; etc.), or space-based movableobjects (e.g. satellites, space stations or spacecraft). A movableobject may be capable of moving freely about an environment (e.g., onland, in the water, in the air, in space), or may move along apredetermined path or track or in a constrained manner. The movableobject may move about one dimensions, two dimension, or threedimensions. A movable object may be capable of moving automatically inresponse to a signal, without requiring the movable object to be movedmanually. In some instances, the movable object may be a vehicle, suchas an aerial vehicle, land-based vehicle, water-based vehicle,space-based vehicle or any combination hereof. A vehicle may be capableof moving freely about one or more designated environments, or may bemovable on a track or other fixed path. A vehicle may include apropulsion system. The propulsion system may utilize a motor, engine,electrical components, magnetic mechanisms, gravity, wind, combustion,and/or other propulsion mechanisms. In some instances, a manualpropulsion system, human-powered propulsion system, or propulsion systemutilizing any other living being may be utilized in a movable object,such as a vehicle. In some instances, the movable object may be arotorcraft which may be actuated and/or controlled via rotation of oneor more blades. The movable object may be actuated and/or repositionedwith aid of one or more rotating blades, propellers, wheels, magnets,tracks, or any other mechanisms. In some instances the movable objectmay be an unmanned vehicle, such as an unmanned aerial vehicle (UAV),which may also be referred to as a drone. The UAV may be capable ofhovering, adjusting the UAV's orientation, and/or adjusting the UAVlocation.

The movable object may be capable of being controlled remotely withoutrequiring an individual to be within or on the vehicle. The movableobject may be remotely piloted via a terminal. Alternatively, anindividual may be within or on the movable object and assisting incontrolling the movable object. The movable object may be configured tocarry loads. In some instances, the loads carried by the movable objectsmay include a payload and/or a carrier that may permit the payload tomove relative to the movable object.

The movable objects can also have other embodiments. For example, livebeings, such as animals, especially dogs, cats, insects, birds, rodents,equines, pigs, and/or dolphins can be used as a movable object to carrythe load disclosed in the present application. Living subjects/beingsmay be mammals. Living subjects/beings may include humans or animals. Insome instances, a human may be a movable object. In some instances,living subjects may be substantially mobile or ambulatory. Livingsubjects may be capable of walking, crawling, swimming, or flying.Artificial insects made in accordance with bionic principle can also beequipped with the carrier disclosed in the present application tostabilize a carried camera, and controlled by a user or artificialintelligence. The state of these movable objects with respect to theenvironment can be controlled by human, artificial intelligent ormechanical power. In some instances, a living subject may support apayload. Optionally, the living subject may support a carrier that maysupport a payload and/or permit a payload to move relative to the livingsubject. The carrier and/or payload may be worn by the living subject.One or more attachment mechanism may be provided to permit the livingsubject to wear the carrier and/or the payload.

The movable object can have any suitable size and/or dimensions. In someembodiments, the movable object may be of a size and/or dimensions tohave a human occupant within or on the movable object. Alternatively,the movable object may be of size and/or dimensions smaller than thatcapable of having a human occupant within or on the movable object. Themovable object may be of a size and/or dimensions suitable for beinglifted or carried by a human. Alternatively, the movable object may belarger than a size and/or dimensions suitable for being lifted orcarried by a human. In some instances, the movable object may have amaximum dimension (e.g., length, width, height, diameter, diagonal) ofless than or equal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or10 m. The maximum dimension may be greater than or equal to about: 2 cm,5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. For example, the distancebetween shafts of opposite rotors of an aerial vehicle (which may beprovided as an example of a movable object) may be less than or equal toabout: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m. Alternatively,the distance between shafts of opposite rotors may be greater than orequal to about: 2 cm, 5 cm, 10 cm, 50 cm, 1 m, 2 m, 5 m, or 10 m.

In some embodiments, the movable object may have a volume of less than100 cm×100 cm×100 cm, less than 50 cm×50 cm×30 cm, or less than 5 cm×5cm×3 cm. The total volume of the movable object may be less than orequal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40 cm³, 50cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³, 300 cm³,500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³, 1 m³, or10 m³. Conversely, the total volume of the movable object may be greaterthan or equal to about: 1 cm³, 2 cm³, 5 cm³, 10 cm³, 20 cm³, 30 cm³, 40cm³, 50 cm³, 60 cm³, 70 cm³, 80 cm³, 90 cm³, 100 cm³, 150 cm³, 200 cm³,300 cm³, 500 cm³, 750 cm³, 1000 cm³, 5000 cm³, 10,000 cm³, 100,000 cm³,1 m³, or 10 m³.

In some embodiments, the movable object may have a footprint (which mayrefer to the lateral cross-sectional area encompassed by the movableobject) less than or equal to about: 32,000 cm², 20,000 cm², 10,000 cm²,1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm². Conversely, thefootprint may be greater than or equal to about: 32,000 cm², 20,000 cm²,10,000 cm², 1,000 cm², 500 cm², 100 cm², 50 cm², 10 cm², or 5 cm².

In some instances, the movable object may weigh no more than 1000 kg.The weight of the movable object may be less than or equal to about:1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60 kg, 50kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10 kg, 9 kg,8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1 kg, 0.05 kg,or 0.01 kg. Conversely, the weight may be greater than or equal toabout: 1000 kg, 750 kg, 500 kg, 200 kg, 150 kg, 100 kg, 80 kg, 70 kg, 60kg, 50 kg, 45 kg, 40 kg, 35 kg, 30 kg, 25 kg, 20 kg, 15 kg, 12 kg, 10kg, 9 kg, 8 kg, 7 kg, 6 kg, 5 kg, 4 kg, 3 kg, 2 kg, 1 kg, 0.5 kg, 0.1kg, 0.05 kg, or 0.01 kg.

In some embodiments, an movable object may be small relative to a loadcarried by the movable object. The load may include a payload and/or acarrier, as described in further detail below. In some examples, a ratioof a movable object weight to a load weight may be greater than, lessthan, or equal to about 1:1. In some instances, a ratio of a movableobject weight to a load weight may be greater than, less than, or equalto about 1:1. Optionally, a ratio of a carrier weight to a load weightmay be greater than, less than, or equal to about 1:1. When desired, theratio of a movable object weight to a load weight may be less than orequal to: 1:2, 1:3, 1:4, 1:5, 1:10, or even less. Conversely, the ratioof a movable object weight to a load weight can also be greater than orequal to: 2:1, 3:1, 4:1, 5:1, 10:1, or even greater.

In some embodiments, the movable object may have low energy consumption.For example, the movable object may use less than about: 5 W/h, 4 W/h, 3W/h, 2 W/h, 1 W/h, or less. In some instances, a carrier of the aerialvehicle may have low energy consumption. For example, the carrier mayuse less than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h, or less.Optionally, a payload of the movable object may have low energyconsumption, such as less than about: 5 W/h, 4 W/h, 3 W/h, 2 W/h, 1 W/h,or less.

A load can comprise a payload and a carrier (for example, a gimbalplatform or a mounting structure capable of stabilizing and/or directingthe payload). The carrier can have a payload coupled on it. The carriermay support the payload. For example all, most, or part of the weight ofthe payload may be carried by the carrier. The carrier may be providedon the movable object. The carrier may be connected to or may directlycontact the movable object. The payload may or may not directly contactthe movable object. The payload may be indirectly connected to themovable object via the carrier.

In some embodiments, the payload and the carrier may be separate orseparable pieces from one another. For example, the payload may beremovably attached to the carrier. Alternatively, the payload and thecarrier may be affixed to one another and may not be separated from oneanother. The payload and carrier may be integrally formed. In someembodiments, the payload and carrier may be provided within the samehousing. Alternatively, they may be provided in different housings or nohousings may be provided. The carrier may permit movement of thepayload. The carrier may permit movement of the payload relative to themovable object, regardless of whether the carrier is a separate piece orintegrated with the payload. The movement may be a simple movement, suchas rotation about one, two, or three axes, or a simple translation inrelation to one, two, or three axes. In one example, a load can comprisethe payload and carrier within a housing. The carrier may be a portionof the load that may permit movement of the payload relative to themovable object. The payload may be a portion of the load that performs afunction (e.g., image capture, illumination output, sound output, remotesensing, delivery of object). The housing may be attached to a movableobject. The load may be fixed relative to the movable object, or may bemovable relative to the movable object. In one example, the load mayrotate relative to the movable object. In some instances, a carrier maypermit the rotation of the load relative to the movable object about arotational axis.

The carrier may have a frame assembly and an actuation assembly. Theframe assembly may provide structural support. In some instances, theframe assembly may have one or more individual frame components. Theindividual frame components may be movable relative to one another. Agimbal platform or other arrangements may be used for the individualframe components, or in the connection between the individual framecomponents. A carrier may optionally include a set of one, two or threegimbals, mounted on each other with orthogonal pivot axes. An actuationassembly may include one or more actuators (e.g., motors). The actuatorsmay cause the individual frame components to move relative to oneanother. Movement of one or more frame components may result in movementof the payload relative to the movable object. The frame components mayrotate about one or more axes of rotation, thus causing the payload torotate about one or more axes relative to the movable object. The framecomponents may be able to rotate relative to one another. The framecomponents may rotate about one or more pivot axes. For example,movement of one frame component may cause a payload to rotate about apitch axis, movement of another frame component may cause the payload torotate about a yaw axis, and movement of another frame component maycause the payload to rotate about the roll axis. The actuators may causerotation about different axes of rotation. For example, actuation of afirst actuator may cause rotation of the payload about a roll axis,actuation of a second actuator may cause rotation of the payload about apitch axis, and actuation of a third actuator may cause rotation of thepayload about a yaw axis. The actuator may cause the movement of theframe components. The actuators may permit multiple frame components tomove simultaneously (e.g., permit rotation of the payload about multipleaxes simultaneously) or may be configured to permit movement of oneframe component at a time (e.g., permit rotation of the payload aboutone axis of rotation at a time). The carrier may permit rotation about,one, two, or three axes which may correspond to any of a roll, pitch, oryaw axis, or combination thereof.

In some embodiments, the state of the payload may be adjustable. Thestate of the payload can include the location (such as height/altitude,horizontal/lateral position, etc.), posture/attitude (such as pitch,roll, yaw angles, etc.), movements (such as translational or rotationalmovement), acceleration (such as linear or angular acceleration), andthe like or any combination thereof. In some instances, the state of thepayload may include the positioning of the payload which can include thelocation and/or orientation/attitude of the payload. For example,controlling the positioning of the payload or other object may includecontrolling the distance, height/altitude, horizontal/lateral position,coordinates, angle relative to pitch axis, angle relative to roll axis,and/or angle relative to yaw axis of a payload or other object. In someembodiments, the state of the payload can include operational parametersof the payload such as on or off status, focal length and/or shutterspeed of a camera, and the like. In some embodiments, the payload can bemaintained at a certain state (e.g., a certain vertical and/orhorizontal position, inclination and/or orientation, velocity,acceleration, etc.) by controlling the state of the carrier. Forexample, the carrier may be controlled to move or rotate along one, twoor three rotational axes such that the payload carried by the carrier ismaintains its relative position and/or posture regardless of themovement of the movable object to which the carrier is coupled. In someinstances, the state of the payload can be varied by controlling thestate of the carrier and/or the movable object. For example, theattitude/orientation of the payload may remain the same or be varied bymoving the carrier without moving the movable object, by moving themovable object without moving the carrier, or moving a combination ofthe carrier and the movable object. The position/orientation of thepayload with respect to a fixed reference frame (e.g., backgroundenvironment, or a target of the payload) may be the position/orientationof the payload with respect to the movable object (via the carrier) plusthe position/orientation of the movable object with respect to the fixedreference frame. The position/orientation of the payload with respect tothe fixed reference frame may be adjusted based on one or more of:adjustment of the position of the payload with respect to the movableobject (via the carrier) and/or adjustment of the position/orientationof the movable object with respect to the fixed reference frame.

In some embodiments, a carrier can be an ancillary devise forvideography, photography, surveillance, sampling and the like. Thepayload supported by the carrier may include a camera, camcorder,infrared imaging device, sensor, illumination device, microphone, andthe like. The payload may be capable of capturing an image. The imagemay be a static image (e.g., snapshot) and/or dynamic image (e.g.,video). The field of view or object being imaged may be a target of thepayload. Optionally, the payload may include one or more of thefollowing: photosensor, optical element (e.g., lens, mirror, filter),energy storage unit (e.g., battery), memory storage unit, orcommunication unit. Optionally, one or more of the payload elementsdescribed may be enclosed within a housing. The embodiments discussedherein use cameras as examples of the payloads that are coupled viacarriers to aircrafts. In various embodiments, the payloads can includesurveillance monitors, illumination devices, microphones, speakers, andother types of devices.

An object typically has six degrees of freedom, including linearmovement along three directions of the three dimensions (X, Y, and Z)and rotation around three axes: pitch, roll and yaw. A remote controldevice or terminal may be used to control a movable object (such as anaerial vehicle) in the six degrees of freedom, including rotation of themovable object around one or more of the three axes, as well as therotation of the carrier (of an aerial vehicle) around one or more of thethree axes. The remote control device or terminal may also be used tocontrol the speed of rotation and/or translation, or acceleration of therotation and/or translation. Optionally, the remote control device maycontrol the ultimate position/movement of the payload. One or moreprocessors may be used to determine the movements of the carrier and/ormovable object needed in order to put the payload in the desiredposition and/or provide the desired movement. The processor may beprovided in the remote control device/terminal, on a separate externaldevice, or may be part of the movable object, carrier, and/or payload.

The carrier (such as a gimbal platform on an aircraft) may be configuredto rotate along three, two, or one axis relative to the moveable objectto which the carrier is coupled, such as an aircraft. That is, thecarrier may have one, two or three rotational degrees of freedom to moverelative to the movable object. Such rotational degrees of freedom maybe provided by frame components of the carrier which may moveindependently of one another. Such carriers (such as a gimbal platformon an aircraft) may be configured provide the functionalities ofdirecting or pointing a payload (e.g., a camera) carried thereon to aparticular direction, as well as stabilizing the payload (such as byeliminating or reducing vibration caused by an aircraft). Optionally,the carrier may have one or more translational components. For instance,the carrier may be capable of translational movement relative to themovable object, or may permit a payload to move in a translationalmanner with respect to the movable object.

In some embodiments, the state of the movable object (e.g., aerialvehicle), the carrier and/or the payload can be controlled separately orin combination via a remote control device or terminal. The terminal maybe remote relative to the carrier, payload, and/or movable object. Theterminal optionally does not contact the carrier, payload and/or movableobject, and/or is movable independently relative to the carrier,payload, and/or movable object. In some embodiments, such control can beapplied based on the state of the terminal itself (e.g., inclination,velocity), the state of a user as acquired by the terminal (e.g.,gestures, body movement, eye movement, voice), user inputs via agraphical user interface, and the like. The terminal may be handheld orworn by a user. Alternatively, the terminal may be set on a platform.The terminal may be a smartphone, tablet, laptop, computer, glasses,gloves, helmet, microphone, or any other device. The terminal mayinclude a display which may provide a user interface. A user may be ableto view the user interface on the terminal. A user may be able tointeract with the terminal via the user interface, voice, gestures, eyemovements, or movements of any other part of the user's body (e.g.,hand, arm, head, eye, leg, torso).

In some embodiments, the movable object, the carrier and/or the payloadmay be equipped with one or more sensors such as inertial measurementunits and a wireless communication unit configured to communicate with aterminal. Likewise, a terminal may be equipped with sensors such as aninertial measurement unit and a wireless communication unit configuredto communicate with the movable object, the carrier and/or the payload.The terminal can also be equipped with input-capturing devices suchcamera, infrared sensor, motion sensor, accelerometers, microphone, andthe like, for capturing visual, audio, gesture, and other stateinformation, commands, or indications of the user.

In some embodiments, sensors such as inertial measurement units may beconfigured to measure the state of an object (e.g., movable object,carrier, payload, or terminal) that the sensors are attached to.Optionally, the sensors may measure the attitude of the object withrespect to three axes of rotation (e.g., pitch angle, roll angle, yawangle). In some instances, a single sensor may measure the attitude ofthe object with respect to three axes, while in other embodiments,individual sensors may measure the attitude of the axes with respect toone or two axes. In one instance, one sensor may be provided which mayprovide the complete attitude/orientation information about the object.Alternatively, the sensors may measure the attitude of the object withrespect to one or more axes of rotation. In some instances, multipleattitude sensors may be employed, each relating to a different axis ofrotation. The sensors may provide information about a location of anobject (e.g., coordinates, height, lateral position). In some instances,global positioning (e.g., GPS) may be used to determine the location ofthe object. Satellites or reference stations may be used to determinethe location of the object. In some instances, the sensors may beconfigured to provide a measurement of the movement of the object (e.g.,speed of rotation or translation). In some instances, multiple sensorsmay be utilized for different aspects of the state of an object. Thestate of the object may be relative to another object, or may berelative to the fixed reference frame. For an example of relative statesbetween objects, the attitude of a payload may be relative to theattitude of a movable object. For an example of a relative state betweenan object and the fixed reference frame, the attitude of the payload maybe relative to the Earth.

A wireless communication unit can be configured to transmit signalsbetween the terminal and the movable object, carrier and/or payload. Forexample, the control signals may be transmitted from the terminal to thecarrier or the payload and feedback signals or image data may betransmitted from the carrier and/or payload to the terminal. Optionally,an additional external device may be provided which may communicate withthe terminal and/or the movable object, carrier and/or payload. In someinstances, one or more additional devices may be provided to displayimages, calculate and provide instructions, or any other use. Suchcommunications may be wireless. Communications, such as wirelesscommunications may be provided directly between objects (e.g., directlybetween terminal and movable object, directly between terminal andcarrier, directly between terminal and payload), or may occur over anetwork (e.g., local area network (LAN), wide area network (WAN) such asthe Internet, telecommunications network, etc.). In some instances,relay stations, such as towers, satellites, or mobile stations may beused. Wireless communications may or may not be proximity dependent.

The state of a terminal can correspond to the state of the payload withrespect to a fixed reference frame. The reference frame may be abackground or fixed scene. For instance, the reference frame may be anenvironment in which the payload is presented. For example, thereference frame may include ground, building surface, geographicfeatures, or any part of the Earth. In one example, theattitude/orientation of a terminal can correspond to theattitude/orientation of the payload. Tilting the terminal by 15 degreesmay cause a corresponding 15 degree tilt in the payload. In anotherexample, movement of the terminal may correspond to a movement of thepayload. For example laterally moving the terminal may cause lateralmotion of the payload. Rotation of the terminal about one or more axesof rotation may cause corresponding rotation of the payload about theone or more axes of rotation. In some instances, a one-to-onecorrespondence may be provided between the state of the terminal and thestate of the payload (e.g., a one degree rotation of the terminal mayresult in a one degree rotation of the payload). Alternatively, acoefficient or factor may be provided between the state of the terminaland the state of the payload (e.g., a one degree rotation of theterminal may result in a three degree rotation of the payload). In someother implementations, the state of the terminal may correspond to adifferent state of the payload. For example, tilting the terminal by acertain degree of angle may correspond to a speed of rotation of thepayload, rather than directly correlating to the angle of the payload.For examples, relationships between the terminal and payload may includeangle-to-angle relationships, angle-to-speed relationships, orangle-to-acceleration relationships. Such relationships may apply toone, two, or three axes of rotation.

Optionally, a terminal may be a handheld device, or may be worn by theuser. The corresponding state of the terminal may depend on movement ofa hand, head, or other portion of the user. In one example, a tilt ofthe head of the user may result in a tilt of the terminal worn by theuser on the head, which may result in a tilt of the payload. In anotherexample, movement of the user's eye detected by the terminal may resultin a corresponding motion of the payload. A movement of the user's handthat is holding a terminal may result in a corresponding movement in theobject. A verbal command by a user may be received and/or sensed by theterminal and may result in a corresponding movement in the object.

The maintenance and/or variation of the state of the payload may beimplemented by the carrier, the movable object, or any combinationthereof. For example, holding a terminal steady may result inmaintaining the position and/or orientation of the payload. If themovable object is flying around and adjusting the attitude of themovable object, but it is desired to keep the payload at a steadyorientation, the carrier may be actuated to compensate for the motion ofthe movable object and hold the payload steady. In another example,adjusting an attitude of the terminal over two axes of rotation mayresult in adjusting the attitude of the payload about the twocorresponding axes of rotation. If the carrier is only capable ofcausing the payload to move about one of those axes relative to themovable object, the movable object may be moved about the other axis ofrotation to permit the payload to overall experience rotation about bothaxes of rotation. In some instances, movement by a movable object may beused to compensate for a lack or limitation of movement of the carrier,or vice versa, to provide a desired state of the payload.

The state of the payload with respect to its fixed reference frame(e.g., background spaces) can depend on the state of the movable object(e.g., aircraft, a submarine, or a motor vehicle). For example, in somecases, the payload (and/or the load including the payload and thecarrier) can be completely fixed to the movable object, such that thestate of the payload (and/or load) is completely controlled via thecontrol of the movable object by the terminal. This may result inachieving pitch, roll and yaw directional control of the payload carriedon the carrier on the movable object by controlling movement of themovable object alone. In other cases, the payload may have three degreesof freedom with respect to the movable object via the carrier.Alternatively, the payload may have one or two degrees of freedom withrespect to the movable object via the carrier. The degrees of freedommay reflect rotational degrees of freedom about a roll, pitch, and/oryaw axis. When a payload has one, two, or three degrees of freedom withrespect to the movable object via the carrier, the state of the payloadis not controlled by the state of the movable object, or may bepartially controlled by the state of the movable object.

Operation of the carrier and/or the movable object along the one, two,or three degrees of freedom can be achieved through the state of theterminal (e.g., handheld terminal, worn terminal). Operation of thecarrier and/or the movable object may result in a state of the payload.One or more sensors on the terminal may provide a signal about the stateof the terminal and/or instructions for operation of the carrier and/orthe movable object. One or more sensors on the payload, carrier and/ormovable object may provide a signal about the state of the payload,carrier and/or movable object to the terminal. Any of these signals maybe useful in generating additional instructions for the operation of thecarrier and/or movable object. Feedback may be provided by sensors onmultiple objects.

In some embodiments, operation of the carrier and/or the movable objectcan be achieved via a graphical user interface (GUI) of the terminal. Inone example, operation of the carrier and/or movable object can beachieved via a virtual joystick on the terminal. Optionally, theterminal may be a handheld terminal and the virtual joystick may beoperated via one or more hand motions or touch selection by a user'shand. In some instances, the graphical user interface may providefeedback information to the user about the state of the payload. Thegraphical user interface may permit a user to view and/or control thetype of payload control in process by the terminal (e.g., angle-to-anglevs. angle-to-speed control).

Optionally, operation of the carrier does not need to rely on thegraphical user interface of the terminal, but can achieved via themovement of a user's finger on the screen of the handheld terminal. Forexample, the movement such as paddling, circling, zooming in/out cancontrol the state of the carrier and the camera's focal length.

In some embodiments, control is achieved via image command obtained bythe camera on the terminal. For example, a user's hand can signal to theterminal camera (e.g., a smart phone camera if the terminal is a smartphone) commands such as “stoop”, “lift”, “tilt left”, “right tilt”,“turn left”, “turn right” as well as circling in the air. Gesturerecognition software may be used. Smart phone camera can also acquirecommands from the eye movement of the user, thereby receiving andrecognizing commanding without requiring contact.

A user may issue voice commands to the terminal. The terminal maycontrol the state of the payload via control of the carrier and/ormovable object via voice recognition technology, conversion of audiosignal into a command by intelligent terminal processing, and/orwireless transmission of the signal to the carrier and/or movableobject.

A terminal may be a wearable object, such as glasses, helmets,wristbands, gloves, arm bands, leg bands, torso bands, or any otherdevice described elsewhere herein. The terminal may include one or moreextensions or component to permit the terminal to be worn by the user.The terminal may include one or more straps, encircling portions, bands,ties, velcro, buttons, zippers, snap-fits, or other components that mayaid the terminal in being worn by the user. The terminal may beintegrated into the user's clothes.

User control may be achieved through a terminal which may be formed asglasses (with embedded monitors) or helmets. Movement or gesturing ofthe head or the neck can be used to adjust the position/angles of thepayload (e.g., via carriers and/or movable object). Adjustment of theposition/orientation of the payload may result in an adjustment of thepayload target (e.g., a camera's field of view). Images acquired by apayload that is a camera can be sent back to the glasses or the helmetin real time and/or stored in a data storage unit. Such images may besuperimposed over the wearer's field of view. The user may be able tosimultaneously control the payload while viewing the images captured bythe payload from the payload's point of view. For example, if thecarrier (or cradle head of the carrier) is the three-axis type, movementof the head or the neck in each axis corresponds to the movement of thecarrier of the in respective axis.

In some embodiments, a state of the payload can be controlled by manualanalog cameras. In some instances, gesture recognition may be used.Motion by a user may be captured by a camera of the terminal.Alternatively, motion by a user may be captured by a camera incommunication with the terminal. The terminal or an external device mayinterpret the captured images and create one or more command signalsthat may be transmitted to the movable object, carrier, and/or payloadto effect a desired state of the payload.

In some embodiments, movement of the user's hand can be more accuratelycaptured by specially-made digital gloves in order to control the stateof the payloads (i.e., via carrier and/or movable object). For example,in one embodiment, a specially-made digital glove can translate signlanguage from hearing-impaired people. This kind of system measures thehand gesture in four different elements, including hand shape, handorientation, hand position and hand movement, all with the position ofthe human body as a reference.

In some embodiments, control is achieved by the terminal's positionrelative to the user's face. For example, a user's face's distance froman image capture device of the terminal may be indicative of controllinga payload (e.g., camera) focal length. Moving the terminal laterallyrelative to the user's face may cause an adjustment of the attitude ofthe payload.

In some embodiments, facial recognition may be used for control. Forexample, the expression on a user's face may be indicative of aninstruction to change a state of a payload. For example, a frown maymean to adjust the angle of the payload, while a smile may mean toadjust a lateral position of the payload.

Various embodiments are described in detail below with reference to thefigures or drawings.

FIG. 1 is a schematic diagram of the remote control method forcontrolling a position of a payload. In the following example, anaircraft 102 is used as an example of a movable object. However, othertypes of movable objects may be used, as described elsewhere herein. Anydescription herein referring to an aircraft may be applied to movableobjects and/or any other examples of movable objects. The aircraft maysupport a load, which may be a combination of a carrier 103 and apayload 105.

In FIG. 1, the handheld terminal 101 may be used to control the aircraft102 via a control (uplink) signal 106. The terminal 101 can be a smartphone, a tablet computer, a pair of display glasses, a helmet, or anyother examples described elsewhere herein. The terminal may have one ormore characteristics as described elsewhere herein in variousembodiments. The terminal may generate and/or transmit a signal. Thesignal may be indicative of a state of the terminal or an input from theuser. The signal may be generated based on a finger movement by theuser, an attitude/orientation of the terminal, movement of the terminal(e.g., rotational and/or translational movement), acceleration of theterminal (e.g., angular and/or linear acceleration), voice command bythe user, heat sensed from the user, motion recognition by the terminalfrom the user, or position or status of a user's body part. In someembodiments, such state signals may differ from the signals generated bythe traditional mechanical sticks (i.e. joystick).

Terminal 101 can be equipped with position sensors, such as inertialmeasurement unit (IMU), acceleration sensors, angular velocity sensors,magnetometers direction or attitude heading reference system (AHRS)system, infrared sensors, audio sensors, touch capacitive sensors, orpressure sensors, and may be configured to obtain data on the state ofterminal 101. The state of terminal 101 can correspond to the state ofthe user's hand or other portion of the user's body. The state of theterminal may be affected by input from the user (e.g., touching atouchscreen of the terminal).

In some embodiments, the aircraft 102 and/or carrier 103 also comprisesa state sensor configured to measure the state of aircraft 102 and/orcarrier 103. Similarly, the sensor may measure the position (e.g.,height/altitude, lateral position), orientation/attitude (e.g., angularposition with respect to roll/pitch/yaw axes), movement (e.g.,rotational and/or translational), acceleration (e.g., angular orlinear), or any other state of the aircraft and/or carrier.

The remote control signal 106 can be a wireless signal, such as radio,infrared, microwave, ultrasonic signal, as well as wired signal. Thewireless signal may be via WiFi, cellular, Bluetooth, or WiMAXtechnologies.

The aircraft 102 can be a multi-rotor helicopter, a regular helicopteror a fixed-wing aircraft. The aircraft may be unmanned. The aircraft maybe of a size so that the aircraft may be picked up by a user. Aircraft102 can be equipped with a carrier 103 and a payload such as camera 105or lighting device. The payload may be supported on the aircraft via thecarrier. Images obtained by the camera can be transmitted to an imagedisplay device 104 via feedback (downlink) signal 107, which can beradio, infrared, microwave, ultrasonic, or any other type of signaldescribed elsewhere herein. This may permit the user to observereal-time image from the camera and adjust the orientation of the camera105 and carrier 103 based on feedback real-time image. Camera 105 can bean ordinary camera or an infrared imager. Camera can be any type ofdevice that may capture images along an electromagnetic spectrum. Theimage display device 104 may be a separate device than the terminal 101.Alternatively, the image display device 104 may be integrated as part ofthe device, or images may be displayed on the terminal, serving the samefunction as the image display device. The image display device may bewithin a perceptible distance or location relative to the terminal or auser of the terminal. Alternatively, the image display device may beremote relative to the terminal.

A terminal 101 can express a signal corresponding to the state of theterminal and/or a state of the user (such as a hand gesture, movement,etc.). For example, the orientation of the terminal may be expressed bythe signal (e.g., angle relative to roll axis, pitch axis, yaw axis).The orientation of the terminal may be reflective of the positioning ofa user's hand holding the terminal or another part of the user's bodysupporting the terminal. The state may be expressed in three axes(pitch, roll and yaw). Optionally, the state may include otherinformation such as position, or any other examples of states describedelsewhere herein. A signal indicative of the state can be received bythe movable object (e.g., aircraft 102) and/or the carrier 103 and/orthe payload (e.g., camera 105). The signal can be used to control ofposition-status of the payload 105, carrier 103, and/or movable object102 with respect to the fixed reference frame (i.e. background, a fixedscene). The state of the terminal or the state of the user can remotelycontrol the state of movable object, carrier, and/or payload.Ultimately, the state of the terminal and/or user may be used to controla state of the payload. The state of the payload can comprise thesuperimposition of the state of the payload with respect to the carrier,the state of the carrier with respect to the movable objects, and/orstate of the movable objects with respect to its environment.

In some embodiments, a function of the aircraft is for the carriedcamera to obtain images of targets. In some examples, the targets may beground targets, structural targets, moving targets, static targets, orany other type of targets. The distance between the aircraft and thetarget can be manipulated by the aircraft flying away from or towardsthe target, thereby achieving a zooming in or zooming out effect on thevision or imaging. Camera lens can also control the zooming in and out.Optionally, the aircraft flying away from or towards the target can becoupled with the focal length of the camera. In other words, a statecontrol command can be implemented by the couple movement of theaircraft flying away or towards the target and the change of thecamera's focal length. For example, the aircraft can determine itsdistance to obstacles, targets, or the ground. When the distance exceedsa preset value or is too short so as to affect flight safety, thecorresponding aircraft control commands can be filtered out, so that theaircraft is no longer moving away/closer, so that the control commandcan only be implemented via camera focal length change. Or, in somespecific applications, the user can set the control command to beimplemented by camera focal length change in priority or the movement ofthe aircraft in priority. In some embodiments, a flight control computercan automatically couple or decouple the aircraft's movement toward oraway from the target and camera's focal length change, in order toachieve optimized imaging effect.

In some embodiments, a processor may determine whether to use theaircraft movement toward or away from the target alone, camera focallength change, or a combination of the both in zooming in and out. Theprocessor may make such determination in an automated fashion withoutrequiring user intervention. In some instances, the processor may makesuch determination in accordance with non-transitory computer readablemedia stored in memory. The processor may make such determination inaccordance with one or more algorithms or set of rules. Alternatively, auser may determine the actions or combination of actions to occur forzooming in and out. For example, a user may determine to use aircraftmovement alone, camera focal length alone, or a combination of both. Theuser may determine the conditions and preferences for which actions touse.

In one example, a state of payload 105 with respect to the carrier canbe the focal length of the camera. Accordingly, the camera's view canzoom in and out, corresponding to the change of the camera'sdigital/optical zoom. This movement can be understood as a cameravirtually moving on an optical axis. This virtual moving can be achievedvia actual physical movement of the camera's lenses, change in lensshape or focal length, or electronic zooming in/out. This virtualmovement can be coupled or combined with physical movement of aircraft102 with respect to its fixed reference frame (i.e., background).

A payload discussed above is not limited to an image-forming device. Itcan also comprise lighting and other devices. In the virtual wherein thepayload is a lighting device, the zooming in and out discussed abovecorresponds to the size change of a lighted spot or the intensity changeof the light.

A state of the carrier 103 relative to the background space can be thecoupling or superimposition of the state of the carrier with respect toaircraft 102 and the state of aircraft 102 with respect to itsenvironment. In some instances, the state of 105 payload may be asuperimposition of the state of the carrier with respect to the aircraftand the state of the aircraft with respect to its environment.Optionally, the state of the payload may also include thesuperimposition of the state of the payload with respect to the carrier.

In some embodiments, a processor may determine whether to use theaircraft attitude and/or location relative to a target alone, payloadattitude and/or location relative to the movable object (via thecarrier), or a combination of the both in adjusting the attitude of thepayload and/or location. The processor may make such determination in anautomated fashion without requiring user intervention. In someinstances, the processor may make such determination in accordance withnon-transitory computer readable media stored in memory. The processormay make such determination in accordance with one or more algorithms orset of rules. Alternatively, a user may determine the actions orcombination of actions to occur for adjusting or maintaining the payloadattitude and/or location. For example, a user may determine to useaircraft movement alone, carrier movement alone, or a combination ofboth. The user may determine the conditions and preferences for whichactions to use.

In some instances, the processor may make the calculation for adjustingthe state of a payload based on a signal from a sensor associated withthe terminal. For example, the processor may use a signal based on theattitude of the terminal to adjust the attitude of the payload withrespect to a fixed reference frame, or with respect to another object.For example, a numerical value indicative of the degree of tilt ororientation may be provided for a signal based on the attitude of theterminal. In some instances, direction of tilt or orientation may beprovided for the signal based on the attitude of the terminal.Optionally, the processor may make the calculation for adjusting thestate of the payload based on a signal from one or more sensorsassociated with the movable object, carrier, and/or payload. Forexample, the payload may have a sensor that provides a signal based onthe attitude of the signal. The carrier may have a sensor that providesa signal based on relative position or angles of the carrier framecomponents. The movable object may have a sensor that provides aposition of the movable object relative to a fixed reference frame. Anysignal from any one of these objects or multiple objects may be used informulating a command signal with aid of the processor. These signalsmay provide feedback on the state of the objects. The feedback signalsmay optionally be combined with the terminal signal in generating thecommand signal. The command signal may be generated in real time. Thecommand signal may be used to control the state of the payload withrespect to the fixed reference frame. The command signal may be sent tothe movable object, carrier, and/or payload to control them. This mayresult in a control of the state of the payload.

In some instances, the processor may be implemented on the terminal.Alternatively, the processor may be provided on an external device,multiple external devices, cloud computing infrastructure, movableobject, carrier, or payload. The processor may be provided on anycombination of these locations.

In some extreme examples the payload 105 can be completely fixed to the102 aircraft, such that the state of the payload is completelycontrolled via the control of the aircrafts by handheld terminal 101, soas to achieve pitch, roll and yaw directional control of the payload(e.g., camera 105). In such situations a camera 105 can be directlyfixed on the aircraft either without a carrier 103, or with a carrier103 wherein the carrier does not have any degree of freedom to movealong any of the three axes.

In other extreme examples, the payload 105 may be movable with respectto the aircraft 102. The payload may be movable about one, two, or threeaxes. The carrier 103 may have one, two, or three degrees of freedomwith respect to aircraft 102. A carrier with three degrees of freedommay be called a three-axis carrier (or cradle head). In other examples,the carrier 103 may be fixed to aircraft 102 on one or two axis. Withrespect to aircraft 102, in such scenarios the carrier 103 does not havedegree of freedom on these fixed axes. Instead, the carrier 103 only hasdegrees of freedom along the non-fixed axis or axes. Carriers with oneand two degree of freedom are called one-axis carrier (or cradle head)or two-axis carrier (or cradle head), respectively. In such scenarios,the payload may be movable with respect to the aircraft about only oneor two axes, respectively.

In some embodiments, a payload itself can fulfill the direction-controland stabilization function of a carrier. As such, a payload can bedirectly fixed on a movable objects (e.g., an aircraft), and withoutgoing through connecting or coupling with the intermediate layer of acarrier. Manipulation of the state of the payload can be achieved bycontrolling the absolute state of the payload (e.g., its state withrespect to the environment, such as the fixed reference frame). This maybe done by manipulating the state of the movable object with respect tothe fixed reference frame. In some instances, this may also be achievedby controlling the superimposition of the state of the payload withrespect to the movable object, and the state of the movable object withrespect to its fixed reference frame. This may be done by actuating oneor more actuators of a carrier, and/or one or more propulsion componentsof the movable object, respectively. In one example, an actuator of acarrier may effect movement of one or more portion of the carrier and/orthe payload, thus permitting the payload to move relative to the movableobject. In one example, an actuator of the movable object may cause themovable object to remain in a fixed location or move relative to thetarget. For example, the actuator may cause a motor of the movableobject to vary or maintain its operation, thus affecting the positioningof the movable object (e.g., increasing the speed of a rotor may cause ablade attached to the rotor to spin faster and provide increased lift).Such movement may include translational movement and/or rotationalmovement.

The terminal 101 can be a smart phone, a tablet computer, avideo-enabled dedicated remote control, or any of the other examplesdescribed elsewhere herein. Screens on the terminals can serve asimage-display device, thus not requiring a separate image-display device104. Accordingly, feedback (downlink) signal 107 from the camera can betransmitted back to terminal 101.

A terminal may capture input signals and convert the signals intocontrol commands, which can be transmitted with or without encryption.Transmission can be achieved via a wireless local area network (i.e.,Wi-Fi), Bluetooth, ultrasonic, infrared, or any other networks orwireless communications described elsewhere herein. The movable object,the carrier, and/or the payload can jointly execute the transmittedcommand. Using Wi-Fi as an example, Wi-Fi of the movable object and/orthe carrier is equivalent to a Wi-Fi access point. A terminal canattempt direct connection to the access point or indirect connection viaa repeater. Once the connection is successful, a Wi-Fi network isformed. In some embodiments, the above operation can be carried out asfollows.

An example of communications for controlling positioning of a payload isprovided. First, a terminal can send a command A to a movable objectand/or a carrier. The movable object and/or the carrier can be actuatedin response to the command A. The payload may send video signal back toa moving device or terminal. Once proper communication and operationstart among the terminal, the movable object, the carrier, and/or thepayload, the process of authentication, authorization and login canbegin.

The control signal can be transmitted directly or indirectly. Forexample, in some embodiments, a terminal (e.g., smart phone or tabletcomputer) can directly transmit a signal to a movable object (e.g., anaircraft) or a carrier via wireless LAN (Wi-Fi), Bluetooth, ultrasonicor infrared. In other embodiments, the control signal is transmitted viaa relay station or a repeater, thus expanding the range achieved by thedirection transmission by a terminal.

The camera may provide a feedback signal for a terminal. When the camerasends the feedback signal, the signal from the camera can be compressedwith or without encryption and then transmitted. In some instances thefeedback signal may include images captured by the camera. In otherexamples, the feedback signal may include information from sensorscoupled to the camera about the state of the camera. If the signal isanalog signal, the analog signal is first converted to a digital signal.Similarly, feedback signals may be provided by a movable object and/orcarrier to a terminal. Such feedback signals may be provided directly,or indirectly via a relay station or a repeater.

Before transmitting a signal to the movable object, carrier, or thecamera, the terminal may first receive one or more inputs. In someinstances the inputs may be reflective of a state of the terminal oruser (e.g., angle of inclination), or an input provided by the user. Theinput may be converted into a command through an algorithm with orwithout encryption. The command may be further generated at least inpart based on feedback signals from the payload, carrier and/or movableobject. The feedback signal may be a state of the relevant object (e.g.,payload, carrier, and/or movable object). The command may be used toform a signal, and the terminal may send the command signal to themovable object, the carrier, and/or the payload. The respective objects(e.g., movable object, carrier, and/or payload) may execute the command.

In some instances, the command may be formulated at the terminal basedon the inputs. Alternatively, the command may be formed at a separateexternal device based on a signal reflective of the inputs provided bythe terminal. In some embodiments, the command may be formed at themovable object, carrier, and/or payload.

In some implementations, the terminal 101 and the image-display device104 (such as a notebook computer) can communicate via short-rangesignal, such as Bluetooth, Wi-Fi, and form a closed-loop feedback. Inone example, a terminal may provide a signal to an object. The imagedisplay device may display information relating to the object.Information about the state of the object may be sensed and sent back tothe terminal and/or the image display device. The terminal object maysend additional signals to the object based on signals received from theobject, thus providing a feedback loop. Any feedback control schemesknown in the art may be utilized. Such feedback controls may be usefulfor payload stabilization and/or orientation control.

Any such communications may occur in real-time or at a rapid rate (e.g.,within a few seconds, within a second, within milliseconds). Forinstance, the state of the terminal may be sensed and command signalsmay be generated in real-time. The command signal may then betransmitted to the relevant object (e.g., movable object, carrier,and/or payload) in real-time. A state of the relative object may bemeasured via a sensor and may be transmitted back to the terminal and/oran image-display device in real time. One or more of the steps may occurautomatically with aid of a processor.

FIG. 2 illustrates an embodiment using a terminal such as a handheldterminal 101 to control the state of a carrier. Examples of handheldterminal 101 include dedicated terminals, smart phones (e.g., iPhone,Android or Windows-based smart phones), tablet computers (e.g., iPad,etc.), laptops, and so on. Any description herein of a handheld terminalmay apply to any other kind of terminal as described elsewhere herein.As shown in FIG. 2, the handheld terminal 101 may have an internal orexternal sensor 201. In some embodiments, the sensor 201 can be a smartphone's built-in (commercial) sensors, such as acceleration sensors,angular velocity sensors, geomagnetic meters, AHRS systems, or acombination thereof. One example of a commercial sensor is Honeywell'sHMC6843.

In other embodiments, the sensor 201 may be an external sensor outsidethe handheld terminal. The external sensor can be arranged on adedicated sensing device 202. The sensing device 202 can be bound to thehandheld terminal 101. The sensing device 202 may be mechanically boundwith the handheld terminal 101, for example by way of pasting/adhesives,bonding, mechanical connections, fasteners, adaptors, or any othertechnique. For example, the sensing device may be snap-fit to theterminal. In some instances, the sensing device may be removablyattached to the terminal (e.g., may be attached or removed repeatedly).Alternatively, the sensing device need not be mechanically connected tothe handheld device. The sensing device may be in communication with thehandheld terminal wirelessly (such as by way of a radio signal, such asWi-Fi or Bluetooth). Thus, even if handheld terminal 101 has no built-ininertial sensors, or, its commercial sensor is not suitable for aircraft102 due to lack of precision and sensitivity, sensing device 202 can beused to control aircraft 102 by following some embodiments of thepresent disclosure. Any description herein of a sensor of a terminal mayalso apply to a sensor of a sensing device that is in communication theterminal.

A user or operator can control an attitude of a payload 105 based on theattitude of the terminal 101. For instance, the attitude of the payloadmay be adjusted by making a corresponding adjustment to the attitude ofthe terminal. In some instances, the attitude of the payload may beadjusted based on controlling a rotation of one or more components of acarrier, and/or controlling the positioning of the movable object. Auser or operator can control the rotation of carrier 103 by adjustingthe inclination angle of handheld terminal 101 (or, if sensing device202 is bound to terminal 101 via non-mechanical means, adjustinclination angle of sensing device 202). The terminal's 101 rotationabout at least one axis of the three axes can represent a rotation on acorresponding axis of the carrier 103 and/or payload 105. In someinstances, the terminal's rotation about each and every of the threeaxes can represent a rotation on the corresponding axes of the carrierand/or payload. For instance, in the case of a one-axis carrier 103, theterminal 101 typically controls the pitch axis; in the case of two-axiscarrier 103, terminal 101 typically control pitch and roll. Similarly,yaw control of handheld terminal 101 can be used to control yaw movementof carrier 103. In some instances, the adjustment of a terminal withrespect to a particular rotational axis may result in the adjustment ofthe payload attitude with respect to the same axis. Degree and/ordirection of rotation of the terminal may be considered in creating acorresponding adjustment of the payload.

In some embodiments, the terminal 101 can be a smart phone or a tabletcomputer; the movable objects can be an aircraft; the payload can be oneor more cameras. As such, a user can adjust terminal's pitch, yaw androll to control the corresponding pitch, yaw and roll of the aircraft,the carrier and/or the camera. In some embodiments, the pitch, yaw androll of a smart phone or tablet computer do not necessarily one-to-onecorrespond with the pitch, yaw and roll of the aircraft, the carrierand/or the camera. In some instances, rotation about a single axis ofthe terminal may result in rotation about multiple axes of the aircraft,carrier and/or camera depending on the degree of the rotation of theterminal. In some instances, rotation about an axis of the terminal mayresult in control of the speed of the aircraft, carrier, and/or cameradepending on degree of rotation of the terminal.

An additional sensing device 202 need not necessarily be attached to theterminal 101 (e.g., smart phone or tablet), but rather is attached to adummy camera. The user or operator therefore adjusts the dummy camerasto control the aircraft, the carrier or the payload. As such some usersor operators can have the feel of using a real camera when taking imageswith an aircraft. Optionally, images captured by the camera payload maybe transmitted to the dummy camera. The dummy camera may function as animage display device 104.

In some embodiments, an additional sensor device 202 can be attached toa specially-made glove to control the state of the carrier. Thespecial-made (digital) glove can more accurately capture the movement ofa user's hands. For example, in one embodiment, the specially-made glovecan translate sign language of hearing-impaired people. This kind ofsystem measures the hand gesture. Optionally four differentcharacteristics of hand gestures may be measured including hand shape,hand orientation, hand position and hand movement. Such measurements maybe made all with the position of the human body as a reference.

In some embodiments, control can be achieved via the terminal's positionwith respect to the user's face. The terminal 101 can have a user-facingcamera 204 which can detect the state of terminal 101 with respect to auser's face. This state can be converted into a control signal. In someinstances, the control signal may be provided without depending on aninertial sensor. In other embodiments, the terminal 101 can use a camerato detect the state of terminal 101 and/or the user with reference tothe surrounding environment. This state can also be converted to acontrol signal, without depending on an inertial sensor to achievedetection. Alternatively, this state information can be combined withinertial sensor information to be converted to a control signal.

The terminal may have one or more different types of sensors that sensevarious states for the terminal and/or user of the terminal. In someinstances, a control signal for a movable object, carrier, and/orpayload may be generated based on measurements from the one or moresensors. The control signal may be generated based on an attitude sensorof the terminal. Alternatively, the control signal may be generatedbased on an image captured by the terminal. The control signal may begenerated based on any combination of signals from any type of sensors,including those mentioned elsewhere herein.

FIG. 3 is an example of hardware and a user interface of a terminal thatcan be adapted to control a one-axis carrier. A handheld terminal 300may control the pitch axis. Any description herein of a handheldterminal may apply to any other type of terminal. Furthermore, anydescription herein of a pitch axis may apply to any other axis (e.g.,roll axis or yaw axis). A user can click on the screen touch controlzone 302 “+” icon and/or 303 “−” icon to control the carrier's upmovement or down movement. The above “+” and “−” icon can be replaced byslider 304. The screen may be a touchscreen.

In some examples, the touch control zone may be displayed in a visuallyintuitive manner. For example, for controlling pitch, the touch controlzone may have a corresponding vertical arrangement on the userinterface. In another example, for controlling yaw, the touch controlzone may have a corresponding horizontal arrangement on the userinterface.

In this embodiment, button 301 is a mode selection switch. When a usertouches button 301, the controller enters the next mode.

In one example, the mode selection switch may switch between an on andoff mode. During the on mode, control by the handheld terminal mayresult in control of the movable object, carrier, and/or payload. Duringthe off mode, the handheld terminal does not control the movable object,carrier, and/or payload.

Mode selection may occur via a user interaction with a device. Forexample, the mode selection may occur via a user touching a touchscreen, providing a voice command, making a gesture, making an eyemovement, moving a portion of the user's body (e.g., location orattitude of the body), moving the terminal (e.g., location or attitudeof the terminal). In one example, a user may shake the device to switchmodes (e.g., different frequencies or amplitudes of shaking may causethe mode to change). The user may move the device in a pattern to switchmodes (e.g., along a predetermined path).

In some instances, mode switching may have a predetermined order andperforming the interaction may switch to the next mode in thepredetermined order. For example, four modes may be provided (mode 1,mode 2, mode 3, and mode 4). Performing an interaction with the device(e.g., shaking the device) may cause the mode to switch to the next mode(e.g., if the user was on mode 2, the shaking will move it mode 3, andso forth). In other instances, mode switching may occur so that a modeis selected based on the interaction (i.e. does not necessarily follow apredetermined order). For example, three modes may be provided (mode 1,mode 2, mode 3). A user may provide a verbal cue as to which mode toselect (e.g., saying “mode 1” may switch to mode 1, regardless of whichmode was previously set).

Different modes can result in different controls. For example, differentmodes may include a binary on-off setting. In other examples, differentmodes may refer to selection of axes for control (e.g., isolated singleaxes—selection to control yaw only, roll only, or pitch only, multi-axescontrol—selection to control a combination of yaw and roll only, yaw andpitch only, roll and pitch only, or all three axes, actions that resultin the control of the single or multiple axes (e.g., rotating a terminalabout a roll axis results in rotation of the payload about a roll axis,rotating a terminal about a roll axis results in rotation of the payloadabout a yaw axis, shaking the terminal at a first frequency may causethe payload to zoom in while shaking the terminal at a second frequencymay cause the payload to zoom out), relationships between movements(e.g., angle-to-angle, angle-to-speed, angle-to-acceleration). Modes maycorrespond to any set of control rules, as to how a state of a terminalor user interaction with a terminal can control an object, such as amovable object, carrier, and/or payload.

In some instances, a user input via the touch control zone may be usedto control the movable object, carrier, and/or payload. In otherembodiments, an attitude of the terminal may be used to control themovable object, carrier, and/or payload.

FIG. 4 is an example of hardware and a user interface of a terminal thatcan be adapted to control two-axis carrier. A terminal 300 (e.g., asmart phone) can be held on the end or sideways. One or more visualindicator such as a button 301 can be a mode selection switch. Forinstance, the mode selection switch may be a virtual button on atouchscreen. When a user touches the mode selection switch 301, thecontroller enters the next mode. A plurality of modes may be provided.In some instances, two, three, four, five or more modes may be provided.In some embodiments, the modes may be between an on mode and off mode.In other embodiments, the modes may be between the number ofcontrollable axes of rotation provided by a carrier (e.g., one axis, twoaxes, or three axes modes). In other embodiments, the modes may bebetween different types of control between the terminal and payload(e.g., angle-to-angle, angle-to-speed, angle-to-acceleration).

Selecting the mode selection switch may cause the controller to move onto the next mode, for example, two-axis carrier mode. In a two-axiscarrier mode, the terminal can take on a variety of movements, forexample, forward, backward, left-rolling, right-rolling, left-turning,right-turning, up, down, which correspond to the movements of thepayload (e.g., camera) and/or the movable object (e.g., aircraft). Forexample, the payload may look down or look up; the movable object mayroll left or right. The movable object may also rotate left or right, aswell as ascend and descend.

In some embodiments, when terminal 300 is leaned backwards at an angleover 11 degrees, the camera starts to look down. When terminal 300 isleaned forward at an angle over Φ1 degrees, the camera starts to lookup. The forward or backwards leaning of the terminal may be about apitch axis. This may cause a corresponding movement about a pitch axisof the payload. When the button 301 is pressed to an off mode, thepayload stops moving along the pitch axis. The button may be pressedagain to return to an on mode or different control mode.

The terminal may be tilted to the right or to the left. The tilt of theterminal may be about the roll axis of the terminal. This may cause acorresponding movement about the roll axis of the payload. This mayoccur regardless of magnitude of tile angle. In some other embodiments,when the terminal tilts to the right or left less than a Φ2 degree tiltangle, the payload tilts about the roll axis correspondingly. When theterminal rolls or tilts to the right or left over the Φ2 degree tiltangle, the payload may rotate about a different axis, such as the yawaxis. When the terminal rolls or turns over a Φ2 degree tilt angle, theaircraft's yaw axis control may take over and then the payload may panto the left or right direction. When the button 301 is pressed to an offmode, the payload stops moving along the roll or yaw axis. The buttonmay be pressed again to return to an on mode or different control mode.In some instances, multiple buttons may be provided and mayindependently control modes about each axis. Alternatively, a singlebutton may combine modes for the different axes.

Controlling the roll and yaw axis via tilt of the terminal mayadvantageously permit the user to control the positioning of the payloadwithout having to turn away from the payload. For example, if thepayload is mounted onto a movable object, the user may wish to re-orientthe payload (e.g., camera) about a yaw axis. However, if this requiredturning of the terminal about the yaw axis to cause a correspondingrotation of the payload about the yaw axis, the user may have to faceaway from the payload and/or movable object, or turn the terminal theuser is not viewing a screen of the terminal. Thus, a user may controlthe roll and yaw axis of the payload by tilting the terminal whilefacing the movable object. However, in alternative embodiments, therotation of the terminal about the yaw axis may cause rotation of thepayload about the yaw axis. In some instances, a user may be able totoggle between different modes (e.g., one mode where control of the yawaxis of the payload occurs via movement of the terminal about the yawaxis, another mode where control of the yaw axis of the payload occursvia movement of the terminal about the roll axis).

In some embodiments, Φ1 can be set to about 5°-15; Φ2 can be set toabout 5°-15°. Any angle measurement may be provided for Φ1 can Φ2, whichmay be greater than, less than, or equal to about 0 degrees, ±5 degrees,±10 degrees, ±15 degrees, ±20 degrees, ±25 degrees, ±30 degrees, ±35degrees, ±40 degrees, ±45 degrees, ±50 degrees, ±55 degrees, or ±60degrees.

In some embodiments, terminal 300 is initially placed horizontally, withmotion along the X, Y and Z axis controlling the movable object and/orthe payload in the corresponding X, Y and Z axis. For example, terminal300's rotating left and right along the Z (yaw) axis or the Y (roll)axis can control the rotation of the payload along the yaw axis and theroll axis, respectively. As such, to the user terminal 300's state isthe state of the payload, thereby rendering the control intuitive.Adjusting the user's terminal attitude causes a corresponding change inthe payload attitude. The payload attitude may be adjusted viaadjustment of the movable object alone, carrier alone, or both themovable object and carrier.

The terminal 300 may tilt left and right at various rates ofacceleration and to various extents. The payload's corresponding speed,e.g., rotational speed, may change at the same acceleration rate andextent as terminal 300. Alternatively, a factor or coefficient may beprovided that may cause a different speed or acceleration of rotationfor the payload.

In some embodiments, the payload may be a camera that may capture videoimages. The video images can be directly returned to terminal 300 (e.g.a mobile phone) and may be displayed on its screen, thereby providingthe user an intuitive and direct feedback of the payload manipulation.

A user can observe the inclination angle of terminal 300 (e.g., a mobilephone). For example, the angle of the terminal can be displayed ingraphical form, or in text form, or visually estimated by the user. Insome embodiments, the inclination angle of terminal 300 corresponds tothe inclination angle of the movable object, the carrier, and/or thepayload. In some embodiments, the rotating speed of terminal 300corresponds to the rotating speed of the movable object, the carrier,and/or the payload. That is, the rotating speed of terminal 300 candetermine the rotating speed of the movable object, the carrier, and/orthe payload. In some embodiments, the acceleration of rotation of theterminal 300 may correspond to the acceleration of the rotation of themovable object, the carrier, and/or the payload.

In some embodiments, a user can control the position of the payloadthrough the terminal 300 by sliding a finger on a touch screen. Theposition of the payload may be altered by actuating the movable objectand/or the carrier. Thus, the user can cause actuation of the movableobject and/or carrier by sliding a finger on a touchscreen of theterminal. For example, a slide to the left on the touch screen can causethe payload (e.g., camera) turn right or left turn, and field of viewand hence a feedback image (e.g., image captured by the camera) on thescreen can accordingly scroll to the left or the right. A user canchoose the payload's response to the user's action. When the slidingstops, the displayed scene on the screen can also stop scrolling.

The scrolling discussed above can be implemented by controlling thepayload's (e.g., camera's) pointing direction relative to the scene,through the rotation of the carrier, and/or through the rotation of themovable object (e.g., aircraft). For example, the scene imaged by acamera may be a target of the camera. The payload's target may be afield of view captured by the payload.

In some embodiments, the user's finger sliding or zooming in/out on thescreen can correspondingly controls at least one of the following: thedistance between the movable object and the target (for example,achieved by the movement of the aircraft), the camera's focal length,the superimposition of the camera's focal length and the distancebetween the movable object and the target. Accordingly, the feedbackimage on the screen also appears closing in or pulling away,corresponding to the zoom in/out.

FIG. 5 is shows a user interface for a button-operated carrier. Aterminal 500 (e.g., a handheld terminal such as iPhone, iPad,Android-based smart phone or tablet computer, etc.) can be equipped withapplication software which provides a graphical user interface similarto the joystick function to control states of the movable object and/orthe carrier. Such controlled states may include movements (e.g.,position/orientation, speed, acceleration), pointing, gesture, and thecamera's focal length. The terminal may have a user interface showing adirectional control area 501, a first mode selection area 503 and asecond mode selection area 502.

For example, as shown in FIG. 5, user can touch a selection area 503 toselect mode A. In mode A, the cross-shaped touch region 501 can havefour directions (up, down, left and right); each controlling theaircraft's pitch and roll. A user can also touch another selection area502 to select mode B. In mode B, the cross-shaped touch region 501 hasfour directions (up, down, left and right), each controlling theaircraft's yaw and the camera's focal length (or thesuperimposition/coupling of the camera's focal length and the distancebetween the aircraft and the target). Selecting different modes maypermit the directional controls to control different states orconditions of the payload (via the movable object and/or the carrier).

It should be noted that, although the number of the sensing signal indifferent directions are respectively described as “up down”, “leftright”, those skilled in the art appreciate that the description is onlyrelative. Such description may be relative to the orientation of theuser interface with respect to a user holding the terminal.

FIG. 6 illustrates a terminal 600 equipped with touch-screen-implementedvirtual control sticks 601 and 602 to control the aircraft. For example,the up and down movement of the left virtual control stick 601 cancontrol the payload's pitch, and the left/right movement of the leftvisual control stick 601 can control aircraft's yaw. The up and downmovement of right virtual control stick 602 can control the camera'sfocal length (or superimposition/coupling of the camera's focal lengthand distance between the aircraft the target). The left/right movementof the right virtual control stick 602 can control the aircraft'srolling left/right. If the carrier and the payload is not the three-axisor four-axis type, the degrees of freedom of the virtual control stickscan be reduced accordingly. Any number of virtual control sticks may beprovided to correspond to various states or degrees of freedom of thepayload via control of the movable object, carrier, and/or payload.

In some embodiments, when the movable object is an aircraft, the virtualcontrol stick enables a user or operator to utilize their conventionalaircraft-control experience to use the virtual control stick to controlthe aircraft's multiple movement dimensions, such as back/forth,left/right, up/down and the pointing direction (e.g., attitude of theaircraft). Although the term “stick” is used, those skilled in the artappreciate that the “stick” is not necessarily rod-shaped. Anon-rod-shaped control “stick”, according to the preferences of theuser, can also control the aircraft's functions. While the “stick” istypically displayed as rod-shaped (often referred to as “joystick”),persons skilled in the art appreciate that the control may be achievedby panning, or other means sensing user signals to control theaircraft's functions. In some instances, a virtual control stick may beshown as an image on a touchscreen that may be responsive to a user'stouch. The user's touch may cause the image of the virtual control stickto be altered similar to how a typical “joystick” may look.

Some embodiments can take a different approach to convert input commandsinto inclination angles of the payload, carrier, and/or movable object.For example, one approach is absolute, which means that the virtualposition of the stick or the handheld terminal (e.g., inclination of thehandheld terminal) may correspond one-to-one to position of the payload,carrier, and/or movable object. One approach is relative. For example,when the user or operator pushes the left virtual joystick all the wayto the left, the payload may be moved about yaw direction left turn.When arriving at the appropriate position, the user or operator releasesthe virtual joystick to allow it to automatically home to the middleposition, which results in the carrier stopping. In some embodiments,the speed of the joystick can control the speed of the aircraft. Forexample, the faster the movement of the virtual joystick, the faster thepayload's speed in the corresponding direction. In other embodiments,the aircraft's speed is determined by the extent of the virtualjoystick's movement. For example if the virtual joystick is ‘stretched’or ‘angled’ further, this may correspond to faster movement of themovable object, carrier, or payload.

The terminal 600 can have an image display region 604, which providesimage feedback to the user or operator. Displaying the image captured bythe payload in the image display region may obviate a need forspecialized display device 104 as illustrated in FIG. 1. In FIG. 6, avirtual joystick 601, 602 can generate a state control signal without astate change of handheld terminal 600. This may provide the user oroperator with a permanent view of image-display region 604. The imagedisplay region may be shown or hidden. For instance, the user can movethe terminal about to face the payload, while still controlling theposition of the payload in a desired fashion.

In other embodiments, handheld terminal 600 adopts the methods shown inFIG. 1 and FIG. 4 to control the movable object, the carrier and thepayload. Position changes of a hand-held terminal 600 may make itdifficult for the user or operator to see image-display-region 604, whenthe attitude of the terminal controls the position of the payload. Inthese embodiments, the user may adopt the relative control methoddescribed above. For example, when the user or operator presses a button606 of the handheld terminal 600 (which may be a physical button or avirtual button displayed on the screen), a state change of handheldterminal 600 may result in a valid control command. For instance, whenthe button has been pressed (i.e. is in an ‘on’ mode), the state changeof the terminal may result in a state change of the payload. When theuser or operator releases the button 606, the handheld terminal 600 maythen be turned back to face the user or operator for the observation ofimage-display region 604. In this process, state change of handheldterminal 600 does not result in a valid control command. In other words,when the button is pressed again (i.e. is in an ‘off’ mode), the statechange of the terminal will not result in a state change of the payload.In other embodiments, one click of button 606 toggles on the controlfunction, another click toggles off the control function, therebyreducing operating mistake.

In some embodiments, whether state change of handheld terminal 600results in a valid control command depends on whether the rotationalspeed of terminal 600 passes a threshold value. For example, when therotational speed of hand-held terminal 600 is greater than the thresholdvalue, the terminal's state change does not result in a valid controlcommand. As such, the user or operator can rotate handheld terminal 600to issue a valid control command, and then quickly turn back handheldterminal 600 to observe the image-display region 604, because the quickturning does not result in a valid control command to reverse theprevious command. Thus, when the speed of the movement of the terminalfalls below a threshold value, a state change of the terminal affectsthe state of the payload, while when the speed of the movement of theterminal is above a threshold value, the state change of the terminaldoes not affect the state of the payload. This may filter outunintentional movement or contact.

The threshold value can be set based on the user or operator'spreference. For example, a user may define a threshold speed which maydetermine whether the change of the terminal state affects the state ofthe payload.

The threshold value control process can be opposite to what is discussedabove. For example, when handheld terminal 600 is turned slower (notfaster) than a threshold value, the terminal's state changes do notresult in a valid control command. As such, the user can rotate handheldterminal 600 at a faster rate to issue a valid control command, and thenslowly turn back the terminal in order to observe the image-displayregion 604. That is, the slow movement in the reverse does not result ina valid control command.

The disclosed technologies herein can provide various software for auser to download multiple applications and functions of terminal 600(e.g., iPhone, iPad, Android or Windows-based smart phone, or othersmart phones, tablets, and terminals). One application software caninclude different embodiments. For example, the method shown in FIG. 6utilized a virtual joystick; the methods in FIG. 1 and FIG. 4 utilizethe state of the handheld terminal to control the aircraft, the carrierand the payload. A user can choose different embodiments according topersonal preference and the operating environment.

As such, users can download the application software to turn a device(e.g., smart phone, tablet, laptop) into a terminal. Smart phonesgenerally have a state sensor. In some embodiments, pre-existing sensorson the device can be used to generate a signal relating to a state ofthe terminal. Sensors of higher precision can be added to the device(e.g., smart phone, tablet, laptop) as needed. Devices generally have asignal processing module to convert the state of the user into a controlsignal. The signal processing module can be implemented in hardware orsoftware. A device can also have a signal transmitter module (e.g.,Wi-Fi, Bluetooth, 2G/3G/4G signal, cell phone signal, etc.) to transmitthe control signal to the movable objects, carriers, and/or payloads.Separate transmitting module or antenna can be added to the device asneeded. Alternatively, the transmitted signal from the device (e.g.,smart phone, tablet, laptop) can be amplified by a relay station or arepeater. The device's display screen can serve as a human-machinegraphical user interface (GUI) to display feedback images resulting fromthe transmitted control signals, such as images captures by the payload(e.g., camera) on the aircraft. Videos captured by the payload can alsobe transmitted back to the device via Wi-Fi, Bluetooth, 2G/3G/4Gsignals, etc.

FIG. 7 demonstrates an embodiment that controls a carrier 702 by theuser's finger moving on the screen of a terminal 700, without relying onany graphical interface on the handheld terminal. For example, the stateof the carrier and the carried payload's focal length can be controlledby the hand's paddling, circling, or zoom in/out gestures. Morespecifically, the finger on the screen can be dragging an icon, orsimulating movements of the movable object, the carrier or the payload.This embodiment can be implemented using motion-capture technology. Forexample, as shown in FIG. 7, a single finger sliding up and down on thescreen can control the pitch of the movable object and/or the carrier, asingle finger sliding left and right on the screen can control the leftand right orientation of the movable object and/or carrier, a singlefinger circling clockwise or counterclockwise on the screen can controlthe left and right tilt of the movable object and/or the carrier, twofingers pinching and un-pinching (zooming in and out) can control thecamera's focal length (or the superimposition/coupling of the camera'sfocal length and the distance between the aircraft and the target).

In one embodiment, the terminal screen may show an image captured by thepayload (e.g., when the payload is an image capturing device). A usermay adjust the image displayed on the terminal screen via finger action,as described herein. For example, the user may pinch and un-pinch tozoom in and out of the image displayed on the terminal screenrespectively. This may automatically occur without regard to theattitude of the terminal. In another example, a user may swipe theuser's finger across the displayed image to move the image. For example,the user may move the user's finger from left to right across thescreen, which may result in the image displayed on the screen movingright, and exposing more of the image to the left. This may alsoautomatically occur without regard to attitude of the terminal. Theimage displayed on the terminal screen may be reflective of the imagecaptured by the payload. Thus, zooming in or out on the terminal screenmay cause the image capture device to zoom in or out from a target beingimaged, and/or the movable object to get closer or further from thetarget being imaged. In another example, swiping the finger to display adifferent portion of the image may cause the image capture device toadjust its angle relative to the target to capture the correspondingdifferent portion of the image. The adjustment of the angle of the imagecapture device may occur with aid of adjustment of the movable objectposition and/or carrier position.

The carrier may be actuated in response to movements of the user'sfingers on the screen. The carrier, as illustrated, may have one or moreframe assemblies that may be used to support the payload. In someinstances, the payload may be suspended beneath the movable object viathe carrier. Alternatively, the payload may be supported above or to theside of the movable object. In some instances, the payload and/orcarrier may be within the movable object. The one or more framecomponents of the frame assembly may be movable relative to one another.One or more actuators (e.g., motors) may control movements of the framecomponents. One or more actuators may operate in response to themovement of the user's fingers or any other command signal describedelsewhere herein. Thus, a command signal from a terminal (e.g.,initiated by a state of the terminal or input from a user) may result inactuation of the one or more actuators of the carrier, thus resulting incontrol of the orientation/position of the payload about one or moreaxes of rotation. The command signal may be further processed by aprocessor, e.g., based on a detected state of a payload, carrier, and/ormovable object to generate corresponding motor signals.

The embodiments described above can be implemented using touch screen.In other embodiments, instead of touch screen, the movable object,carrier and/or payload can be controlled by commands generated fromimages taken by terminal 800 in FIG. 8. For example, a user's hand canperform “stooping”, “lifting”, “tilt left”, “right tilt”, “turn left”,“turn right”, paddling and other gestures to a camera 801 of theterminal 800, in order to control the movable object 804, the carrierand/or the payload. Combinations of one or more input methods discussedherein may be employed. The terminal 800 shown in FIG. 8 can be alaptop, a smart phone, or a tablet computer, etc. The terminal can behandheld or non-handheld (for example, placed on a platform).

The camera 801 of the terminal can be any image capturing device. Thecamera may include optical sensors, motion sensors, infrared sensors,ultraviolet sensors, or any other type of sensors.

In some embodiments, terminal 800 can capture a user's eye movements viacamera 801. The user's finger or other body parts do not have to be incontact with terminal 800. Instead, a tiny camera on terminal 800 cantrack and capture a user's eye movement to achieve non-contact control.

In some embodiments, terminal 800 captures a user's body posture by thecamera 801. For example, the camera 801 can capture movement of theuser's arm, leg or head, and then use the captured posture of state togenerate a control signal to achieve non-contact control.

FIG. 8 illustrates another embodiment wherein an audio detector such asa microphone 802 of the terminal can capture a user's voice commands.The terminal can convert the voice signal into a command signal usingvoice recognition technology and intelligent terminal processing, andsubsequently transmitting command (i.e., control signal 803) to aircraft804. Specific voice commands are illustrated and described in FIG. 9.

FIG. 9 illustrates how the voice control may operate in accordance withan embodiment of the invention. In some embodiments, as shown in FIG. 9a, the control command input can be via voice. For example, the voicecommands issued by the user can comprises “left”, “right”, “upwardly”,“downwardly”, “stop”, “25 degrees to the left”, “5 degrees down”,“clockwise 30 degrees”, “35 degrees, minus 30 degrees, 25 degrees”(relative to the pitch, roll, yaw, absolute position, respectively) andother commands. The voice can be converted into commands by the terminalvia voice recognition technology and further processing, with thecommands subsequently uploaded to the movable object (e.g., an aircraft)and executed by the movable object, the carrier or the payload.

FIG. 9 b illustrates a more general control method, where the terminalinput signal is not limited to voice, but may also include a user'sother state signals, such as hand gesture, finger movement, eyemovement, head movement, and so on. The terminal can filter out signalsgenerated by a user's unconscious and/or unintended movements, such as auser's unconscious eye movement, neck movement due to fatigue, sound ormovement resulting from sneezing or coughing, and so on.

The filtered signal can be converted into control commands and thentransmitted to the movable object wirelessly via link 902 (e.g. cellphone signal, Wi-Fi, Bluetooth, or any other form of communication).Auto control device on the movable objects can filter out unsafecommands, such as when the movable objects may the obstacles or commandscausing excessive overload. Movable objects, the carrier and/or thepayload can execute the commands separately or together. Imagesresulting from executing the commands can be fed back to terminal 904via a downlink. Downlink 904 can be achieved by radio. In someembodiments, the terminal can use artificial intelligence and machinelearning process as well as a feedback process to improve the filteringof signals generated by unconscious movements.

Using Wi-Fi as an example, the movable objects, the carrier and/or thepayload can serve as a wireless communication intervention point (AccessPoint). It connects with the terminal, resulting in the formation of aWi-Fi network. In some embodiments, in order to establish an uplinkcontrol link 902 and/or create downlink 904, devices at both ends of thelink can utilize the authentication and authorization process.

On the movable object, the carrier, and/or the payload, one or more ofthe following steps can happen: a target image can be captured by thepayload (e.g., camera, camcorder), analog to digital conversion (ifanalog instead of digital data is obtained), compression (for example,using H.264/H.265 protocol compression, using Slice technology to reducepicture delay, using multi-layer technology to enhance the robustness ofimage transmission, etc.), encryption, data packing and other steps. Thesignal can then be sent via downlink 904. Similarly, in uplink 902,sensory input at the terminal (e.g., inclination angle) can be convertedto commands using special algorithms. The signal can be encrypted asneeded before uploading. The signal for uplink can also undergo one ormore of the foregoing steps, such as generation of a signal by thesensor, analog to digital conversion, compression, encryption and/ordata packing.

FIG. 10 illustrates a method of controlling an aircraft by usingscreen-embedded glasses 1000 as the terminal (e.g., Google glasses).Glasses 1000 may include a built-in sensor 1002 (e.g., IMU, or inertialmeasurement unit) and/or a small camera 1004. Posture change ormovements of the head or a neck rotation can control the state of themovable object, the carrier or the payload, e.g., the orientation of acamera's field of view. Images taken by the camera can be transmitted inreal time back to a screen 1006 of the glasses. For example, in the caseof three-axis carrier, rotation of the user's head in each axiscorresponds the carrier's movement in corresponding axis. In someexamples, rotation of the user's head about each axis may correspond tomovement of a payload in each corresponding axis. Such movement may beeffected by actuation of the carrier, the movable object, or acombination thereof.

In some embodiments, the sensor 1002 on the glasses can capture headmovement or posture change, and convert the captured information intocontrol signals, and then transmit the control signals to the aircraftvia a wireless connection. In other embodiments, a mini camera 1004 onthe glasses can determine the head's movement or posture change based onthe movement of objects in the surrounding environment. Fusion ofinformation from two sources can result in a more accurate capture ofthe head's movement or posture change. In other embodiments, a minicamera on glasses 1000 can be used to capture a user's eye movement inorder to control the state of the payload.

The glasses can support a variety of wireless connection (such as aradio frequency RF, infrared, Bluetooth, and rapid identification codes,etc.) to identify the relevant equipment, to determine whether theequipment can be manipulated before initiating a control operation. Oncethe glasses have identified related equipment, such as a movable objectand a carrier, an on-screen control panel appear on the glasses' screen.The panel can then be used to control the movable object and thecarrier.

FIG. 11 illustrates one embodiment wherein the terminal is a helmet 1100that is used to control the movable object and/or the carrier. A sensor1102 on the helmet can capture a user's head movement, such as rotationabout an axis (e.g., pitch, roll, or yaw rotation), as well as forwardand backward movement. Head movement information can then be convertedinto a control signal and sent to the aircraft in order to control themovement of the movable object and/or the carrier.

Control of the carrier may be coupled with control of the movableobject. For example, in some embodiments, this coupling can be full,meaning that helmet's state can be the final state of the payload (e.g.,camera's) viewfinder. Specific implementation can be automaticallyselected by the system, including the movable object's state, itslocation and automatic compensation by the carrier. In otherembodiments, this coupling can be partial. For example, the yaw axis maybe completely controlled by the state of the movable object. For apartial coupling, some motions may result in control of one of themovable object or carrier while other motions may result in control ofthe other of the movable object or carrier.

FIG. 12 is a diagram showing a state with respect to a fixed referenceframe (e.g., the environment). FIG. 12 a demonstrates that the state ofthe payload can be a superimposition of state “1” (position status ofthe payload itself with respect to the movable objects) and state “2”(the movable object's state with respect to the environment).

FIG. 12 b demonstrates that the state of the payload (e.g., the camera)can be a superimposition of state “1” (position status of the payloaditself with respect to the carrier), state “2” (the carrier's state withrespect to the movable object), and state “3” (the movable object'sstate with respect to the environment).

FIG. 12 c illustrates that one type of state of the payload (e.g.,camera) can be its focal length. The focal length and the movableobject's state relative to the environment can be controlled as asuperimposition. For example, the focal length of the payload may beadjusted to zoom in or out, while the movable object may move closer orfurther from a target.

FIG. 12 d illustrates that the sliding a user's finger on the touchscreen centralized the control of superimposition of the movableobject's distance from the target and the camera's focal length.

FIG. 13 is a block diagram for a terminal. For example, the terminal caninclude a sensor, a signal processing module, a signal transmittermodule, and a human-machine interface. A graphical user interface (GUI)may be provided as part of the human-machine interface. Many of theexisting smart phones and tablet computers already have these basicelements. Smart phones and tablet computers can download an applicationto achieve the function of the terminal.

The sensor may sense a state of the terminal. For example, the sensormay sense an orientation or position of the terminal. The sensor mayregister audio waves for voice commands. The sensor may register opticalsignals (e.g., capture images of gestures, eye movements), infraredsignals, touch-capacitive signals (e.g., a user touching a touchscreenof the terminal), or any other signals described elsewhere herein. Thesignal processing module may process and/or modify the signal from thesensor. In some embodiments, the signal processing module may generate acommand signal based on the signal from the sensor. The command signalmay determine positioning of a payload. In some instances, the signalprocessing module may determine actuation of a movable object, carrierand/or payload in order to position the payload. A signal transmittermodule may be provided. The command signal may be sent to the movableobject, carrier and/or payload. This may cause actuation of therespective object, which may result in the desired state of the payload.

In some embodiments, the terminal may include a programmable processorand a memory. The processor may execute one or more steps as provided bynon-transitory computer readable media comprising code, logic, orinstructions for performing the one or more steps. The memory may storethe non-transitory computer readable media. The non-transitory computerreadable media may include instructions or algorithms for taking asignal from a sensor and creating a command signal that could causeactuation of the movable object, carrier, and/or payload.

Optionally, the movable object, the carrier, and/or the payload may havea programmable processor and memory as well. Actuation of the movableobject (e.g., movement, attitude adjustment, translation, flight,driving) may occur in accordance with non-transitory computer readablemedia stored in the memory of the movable object, with aid of theprogrammable processor. Actuation of the carrier (e.g., movement of oneor more frame components of the carrier) which may result in a change inposition/orientation of the payload with respect to the movable objectmay occur in accordance with non-transitory computer readable mediastored in memory of the carrier, with aid of the programmable processor.Actuation of the payload (e.g., change in camera focal length) may occurin accordance with non-transitory computer readable media stored in amemory of the payload, with aid of the programmable processor. Themovable object, carrier, and/or payload may have a transceiver capableof receiving and/or sending signals. For example, the transceiver mayreceive one or more command signals from the terminal. The transceivermay send feedback signals (e.g., about actuation or positioning, orimages captured by the payload) back to the terminal or to anotherobject.

In some applications, such as photography and videography, a rocker or asupporting pole or stick can be used to increase the moving range andview angle of a payload, such as a camera or camcorder, in order toachieve desired image effects.

FIG. 14 is a diagram illustrating how in some embodiments a stick-typemovable object can be controlled via a terminal 101. In theseembodiments, the movable object may be movable arm 1400 (e.g., rockerarm), which can be equipped with carrier 1402. The carrier may besupported at or near an end of the movable arm, while the other end ofthe movable arm may be fixed to a support. The support may be a staticsupport (e.g., fixed relative to the fixed reference frame) or a dynamicsupport (e.g., movable relative to the fixed reference frame). Thesupport may be structural, handheld, or any other type of support. Thecarrier 1402 can have a payload 1404 (e.g., a camera).

A user can control the position and extension of a movable arm 1400, soas to place a camera 1404 at suitable position and angle for photographyor cinematography. The same user or another user can use the terminal101 (e.g., a smart phone or a tablet computer) to control the state ofcarrier 1402 or payload 1404 (e.g., posture, pointing direction,movement and focal length) wirelessly (e.g. via wireless signal 106) orvia cable. Similar to the embodiments previously described, the statecan be controlled by the state of terminal 101.

In some embodiments, the movable arm 1400 can be connected to a tripodor other structures in one place. In other embodiments, the movable arm1400 can be attached to or moved by a vehicle, or slide along a track,or pushed by a user to select shooting scenes. In other embodiments, theuser does not even need rocker arm 1400. Instead, the user can hand holdthe carrier 1402. In this case, the user is the movable object. The sameuser's other hand, or another user can use terminal 101 to control thecarrier 1402 and/or payload 1404. The movable arm can include a person'sarm, a pole, or other supports.

The present disclosure also provides a system that includes a controlterminal, a movable object, and a carrier. The control terminalapparatus can include a human-machine graphical interface (GUI), asignal processing module and a radio transmitter circuit.

The present disclosure also provides a set of application software,which can be downloaded by a user to a smart phone, a tablet computer,or a laptop to achieve remote control.

FIG. 15 shows an example of a user interface that may be provided on aterminal. The terminal may have a display. The display may show the userinterface 1500. In some instances, the user interface may be provided ona touchscreen.

The user interface 1500 may have a visual selector. The visual selectormay be an on/off selector 1501. For example, the on/off visual selectormay be a button (i.e. virtual button). The visual selector may causecontrol of the payload, carrier, and/or movable object by the terminalto be turned on or off. When the visual selector is in an on position,adjusting the attitude of the terminal may result in adjusting theattitude of the payload. The attitude of the payload may be adjusted viaactuation of the movable object and/or carrier. For example, when thevisual selector is in an on position, rotation of the terminal about thepitch axis may be detected and used to control the pitch rotation of thepayload. When the visual selector is in an off position, adjusting theattitude of the terminal does not result in affecting the attitude ofthe payload. The button may be turned on or off by the user touching orselecting the button. In some instances, a user interface an incorporatea mode selector, as described elsewhere herein.

In one example, the terminal is a smartphone or tablet. The on-offbutton may be displayed on the screen of the smartphone or tablet.

The user interface 1500 may show an attitude range indicator 1502. Theattitude range indicator may be a slider bar. The attitude rangeindicator may have a first region 1504 a and a second region 1504 b. Thefirst region may include a range of angles that fall within the completerange of angles displayed. The first region may be displayed as a subsetof the entire range of angles in the attitude range indicator. Thesecond region may be the range of angles that are within the overallrange of angles but outside the first region. The first region and thesecond region may be visually discernible from one another. In oneexample, the first and second regions may be different colors orshadings from one another. For example, the first region may be shadedwhile the second region is not shaded.

The attitude range indicator 1502 may also include a visual indicator ofthe attitude of the terminal 1506. The terminal angle indicator 1506 maybe displayed anywhere along the attitude range indicator. The terminalangle indicator may correspond to an angle of the terminal with respectto one or more axes of rotation. In some instances, the terminal angleindicator may correspond to an angle of the payload with respect to oneor more axes of rotation. Any description herein of the terminal angleindicator applying to a terminal angle may also apply to a payloadangle. In some instances, the terminal angle indicator may also bereferred to as a payload angle indicator. In one example, if theattitude range indicator is indicative of the pitch angle of theterminal, the terminal angle indicator may show the pitch angle of theterminal. The terminal angle indicator's position along the sliderbarmay show the terminal's relative angle with respect to the range ofangles.

In some embodiments, when the inclination about an axis is within acertain range, the pitch inclination of the terminal corresponds to thepitch inclination of the payload. For example, when the axis of theterminal and/or payload is within a predetermined range of angles θ, theangles of the terminal and payload for that axis may match. The range ofangles θ may have any value. In some instances, the range of angles θmay be preset, may be set by a user, an administrator, or an algorithm.One example of a range may be θ=±7°. In another example, thepredetermined range may be θ between −10° and +6°. When the terminaland/or payload angle falls within the predetermined range, fine tuningmay be performed. This fine tuning may refer to a one to onecorrespondence between pitch inclination of the terminal and pitchinclination of the payload (e.g., camera). In some embodiments, aone-to-one correspondence of angle measurements may be provided. Inanother example, a factor or coefficient may be used (e.g., moving theterminal by one degree results in three degrees of turning by thepayload, or moving the terminal by two degrees results in one degree ofturning by the payload). A linear relationship may be provided betweenthe angle measurement of the terminal and the payload when within thepredetermined range. This may be an angle-to-angle control mode. Thepredetermined range may correspond to the first region 1504 a displayedin attitude range indicator 1502.

When the inclination of the axis is outside the range, the pitchinclination of the terminal may correspond to the rotational speed ofthe payload. For example, if the terminal angle exceeds θ about an axis,the angle of the terminal angle about the axis may correspond to therotational speed of the payload about the axis. The larger theinclination of the angle, the faster the speed. Alternatively, the speedmay be constant once the inclination angle exceeds θ. In one example,when the terminal pitch angle falls outside the predetermined range, thepitch inclination may correspond to the rotational speed of the payloadabout the pitch axis, or the rotational speed of the payload about thepitch axis may be constant. This may be an angle-to-speed control mode.The area outside the range may correspond to the second region 1504 bdisplayed in an attitude range indicator 1502.

In some embodiments, when the terminal angle falls within thepredetermined range (corresponding to the first region of the attituderange indicator), the resulting action by the payload may be differentfrom the resulting action by the payload when the terminal angle fallsoutside the predetermined range (corresponding to the second range ofthe attitude range indicator). In some embodiments, falling within thepredetermined range results in a linear correspondence of the anglesbetween the terminal and payload, while falling outside thepredetermined range results in a control of the speed of rotation of thepayload (which may or may not correspond to the angle of the terminal).In other examples, both ranges may result in linear correspondencebetween the terminal angle and payload angle (i.e. but differentmagnitudes), or rotational control of the payload (i.e. but of differentmagnitudes or types), or acceleration control of the payload. Thus,inclination control may be separate into two intervals, where thecontrols vary in some way.

In alternate embodiments, any number of intervals of controls may beprovided. In some instances, only a single interval of control isprovided, using any of the control techniques described herein. In otherembodiments, a multi-interval control may include any number ofintervals (e.g., two, three, four, five, six or more intervals). Eachinterval may have its own control rules. Thus, based on an angle of theterminal, the resulting control of the payload may be differentdepending on the interval that the terminal angle falls into.

Separation of pitch inclination control into multiple intervals mayadvantageously permit fine tuning in one interval while performing moresubstantial rotation in another interval. For example, when twointervals are provided, within the small inclination interval, finetuning can be performed, whereas more substantial rotation can be easilyand quickly controlled based on speed control. In some instances, thismethod can be used to limit the extent the terminal and/or payload maybe rotated about an axis. In some instances, any number of controlintervals may be provided which may permit fine tuning or differentcontrol over different angles. The multi-interval control may apply toany axis of rotation. For example, the multi-interval control may applyto one, two, or three of the axes of rotations, such as pitch, roll,and/or yaw. In one example, as illustrated in the user interface 1500,the pitch of the payload may be controlled via the terminal. Theattitude range indicator 1502 may be oriented to intuitively correspondto the control of the payload. For example, a vertical slider bar may beindicative of pitch rotation control.

The terminal angle indicator 1506 of the user interface 1500 may showthe current position of the terminal along the designated angle ofrotation. The terminal angle indicator may indicate which controlinterval is currently being utilized by falling into a designated region1504 a, 1504 b of the attitude range indicator 1502. The payloadindicator may indicate whether the rotation has reached the mechanicallimit. In some instances, the first region 1504 a may indicate afine-tuning region while the second region 1504 b may indicate wheremore substantial rotation may occur. The terminal angle indicator'sposition in the first region or second region may indicate whetherfine-tuning control is being utilized or more substantial rotationcontrol is being utilized. As such, users may conveniently know whetherthey are in an angle-to-angle control mode (e.g., in the first region)or an angle-to-speed control mode (e.g., in the second region).

In some instances, a primary axis of rotation may be controlled and/orindicated by the attitude of the terminal and the angle range indicator,respectively. In some instances, the movement of a payload about asecondary axis of rotation besides the primary axis may be provided. Theuser interface 1500 may have a secondary angle direction indicator 1508.

In some instances, one, two, or three primary axes of rotation may beprovided. A primary axis may include any axis of rotation that isdirectly controlled by a corresponding angle of the terminal about thataxis. A primary axis may optionally include an attitude range indicatoron the user interface indicative of the position or type of controlabout that primary axis of rotation. In some instances, zero, one, ortwo secondary axes of rotation may be provided.

Optionally, movement of a payload about a primary axis of rotation maybe performed by the carrier. In some embodiments, movement of thepayload about the primary axis of rotation may be performed by movementof the movable object or a combination of motion by the carrier and themovable object. Movement of a payload about a secondary axis of rotationmay be performed by the movable object. In some embodiments, movement ofthe payload about the secondary axis of rotation may be performed bymovement of the carrier or a combination of motion by the carrier andthe movable object.

In one example, a primary axis of rotation may be a roll axis. Thesecondary angle of rotation may be a yaw axis. This may be realized byusing the yaw movement of the movable object (e.g., aircraft). When therotation of the terminal along the roll axis exceeds a certain anglerange β, the angle may start rotation about a yaw axis. The angle rangemay be referred to as a dead zone, to prevent the unwanted roll rotationcaused by the intentional pitch rotation of the terminal. The speed ofrotation can be proportionate to the rotation angle around the rollaxis, or it can be constant. For example, when β=±15°. The secondaryangle direction indicator 1508 may used to show the direction thepayload is traveling about the secondary axis. For example, secondaryangle direction indicator may be an arrow. An arrow at the bottom rightmay show that the payload (via carrier and/or movable object) isrotating around the yaw axis toward the left, and an arrow at the bottomleft may show that the payload is rotating about the yaw axis toward theright. Optionally, such directions corresponding to indicators may beswitched. In some instances, the indicators may indicate that suchrotation about the secondary axis is occurring at a constant speed.

FIG. 16 shows another example of a user interface that may be displayedon the terminal. The display of a terminal may show the user interface1600. In some instances, the user interface may be provided on atouchscreen. The user interface may show options for control aboutmultiple axes of rotation.

The user interface 1600 may have a plurality of visual selectors. Thevisual selectors may be an on/off selectors 1601 a, 1601 b for differentaxes of rotation. For example, multiple on/off buttons may be provided.The visual selectors may cause control of the payload, carrier, and/ormovable object by the terminal to be turned on or off, as describedelsewhere herein. For example, when a first visual selector 1601 a is inan on position, rotation of the terminal about the pitch axis may bedetected and used to control the pitch rotation of the payload. When thefirst visual selector is in an off position, adjusting the pitch angleof the terminal does not result in affecting the pitch angle of thepayload. When a second visual selector 1601 b is in an on position,rotation of the terminal about the yaw axis may be detected and used tocontrol the yaw rotation of the payload. When the visual selector is inan off position, adjusting the yaw angle of the terminal does not resultin affecting the yaw angle of the payload. The buttons may be turned onor off by the user touching or selecting the button. In some instances,only one of the visual selectors may be in an on position at a time(i.e., only one axis of rotation of the payload may be controlled at atime). Alternatively, multiple visual selectors may be simultaneously inan on position (i.e., multiple axes of rotation of the payload may becontrolled at a time). In some instances, one axis of rotation may becontrolled so that the adjustment of the angle of the terminal onlyaffects the payload about the one axis of rotation, regardless of howthe terminal is moved. Alternatively, two or three axes of rotation maybe controlled so that adjustment of the angel of the terminal affectsthe payload about the two or three angles respectively.

The user interface 1600 may show multiple attitude range indicators 1602a, 1602 b. The attitude range indicators may be slider bars. The sliderbars may be oriented in different directions. The slider bars may beoriented in an intuitive manner to reflect the axes of rotations. Forexample, a slider bar that is oriented vertically 1602 a may controlmovement about a pitch axis, while a slider bar that is orientedhorizontally 1602 b may control movement about a yaw axis. Optionally,curved slider bars may be shown indicative of control about a roll axis.

The attitude range indicators may have a first region 1604 a, 1604 c anda second region 1604 b, 1604 d. The first and second regions may havecharacteristics as described elsewhere herein.

The attitude range indicators 1602 a, 1602 b may also include visualindicators of the attitude of the payload 1606 a, 1606 b. The terminalangle indicators 1606 a, 1606 b may be displayed anywhere along theattitude range indicators. The terminal angle indicators may correspondto an angle of the terminal with respect to the axis of rotation for thecorresponding attitude range indicator. For example, if the attituderange indicator is indicative of the pitch angle of the payload and/orterminal, the terminal angle indicator may show the pitch angle of thepayload and/or terminal. If the attitude range indicator is indicativeof the yaw angle of the payload and/or terminal, the terminal angleindicator may show the yaw angle of the payload and/or terminal. If theattitude range indicator is indicative of the roll angle of the payloadand/or terminal, the terminal angle indicator may show the roll angle ofthe payload and/or terminal. The terminal angle indicator's positionalong the sliderbar may show the payload and/or terminal's relativeangle with respect to the range of angles.

The terminal angle indicators 1606 a, 1606 b may fall into one or morecontrol intervals 1604 a, 1604 b, 1604 c, 1604 d of the attitude rangeindicators. When multiple attitude range indicators are provided, theterminal angle indicators may fall into angle-to-angle control regions,and/or angle-to-speed control regions. In some instances, a terminalangle indicator may fall into angle-to-angle control regions aboutmultiple rotational axes, into angle-to-speed control regions aboutmultiple rotational axes, or into a combination of angle-to-anglecontrol regions and angle-to-speed control regions over the multiplerotational axes.

Any steps described herein may be performed with aid of a processor. Forexample, analysis, determination, calculation, display, and/or signalprocessing steps may be performed with aid of a processor. The processormay perform steps in accordance with computer readable media. Thecomputer readable media may include tangible and/or non-transitorycomputer readable that may include code, logic, or program instructionsto perform the one or more steps. The processors may be implemented onany objects or environments (e.g., payload, carrier, movable object,external object, terminal, cloud) or combination of objects.

All references cited in the description are hereby incorporated byreference in their entirety. While the disclosure has been describedwith respect to a limited number of embodiments, those skilled in theart, having benefit of this disclosure, will appreciate that otherembodiments can be advised and achieved which do not depart from thescope of the description as disclosed herein.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the invention. It should be understoodthat various alternatives to the embodiments of the invention describedherein may be employed in practicing the invention. It is intended thatthe following claims define the scope of the invention and that methodsand structures within the scope of these claims and their equivalents becovered thereby.

What is claimed is:
 1. A method of controlling positioning of a payload,said method comprising: providing a payload supported by a carrier on avehicle or living subject, wherein the payload is movable relative tothe vehicle or living subject via the carrier about one or moreorthogonal axes of rotation, and wherein the carrier comprises one ormore frame components and one or more actuators, wherein the one or moreframe components are connected to one another to form a gimbal having atleast three axes; receiving, at a receiver positioned on the carrier orthe vehicle, a signal from a terminal that is remote relative to (i) thevehicle or living subject, (ii) the carrier, and (iii) the payload,wherein the terminal (1) includes a user interface providing a modeselection from a plurality of modes having a different number ofcontrollable axes of rotation of the carrier, said plurality of modesincluding a one-axis control mode, a two-axes control mode, and athree-axes control mode, and (2) generates the signal based on the modeselection; calculating, with the signal from the terminal and with aidof a processor, an angle or speed by which the payload is to be rotatedabout the one or more orthogonal axes of rotation; generating a commandsignal to move the payload, based on the calculation; and moving thepayload relative to the vehicle or living subject about the one or moreorthogonal axes of rotation via movement of the one or more framecomponents driven by the one or more actuators of the carrier inresponse to the command signal.
 2. The method of claim 1 wherein thegimbal comprises three frame components that are configured to pivot atthe three axes which are orthogonal to each other.
 3. The method ofclaim 2 wherein the payload is movable via the carrier about the threeorthogonal axes that remain orthogonal to one another throughout themovement of the payload.
 4. The method of claim 2 wherein the orthogonalaxes of rotation include the pitch, roll, and yaw axes.
 5. The method ofclaim 1 wherein the vehicle is an unmanned aerial vehicle.
 6. The methodof claim 1 wherein the signal from the terminal is indicative of anattitude of the terminal.
 7. The method of claim 1 wherein the signalfrom the terminal is indicative of an input by a user of the terminal.8. The method of claim 1 wherein the command signal is generated furtherbased on an attitude of the payload.
 9. The method of claim 1 whereinthe payload is an image capturing device.
 10. The method of claim 1wherein the vehicle has a volume of less than 100 cm³.
 11. The method ofclaim 1 wherein the payload and carrier are separable from one another.12. A carrier for positioning a payload, said carrier comprising: one ormore frame components configured to be attached to a vehicle or livingsubject, said one or more frame components further being configured tosupport a payload, wherein the payload is movable relative to thevehicle or living subject via actuation of the one or more framecomponents about one or more orthogonal axes of rotation, wherein theone or more frame components are connected to one another to form agimbal having at least three axes; and one or more actuators configuredto respond to a command signal to actuate the one or more framecomponents that effects movement of the payload relative to the vehicleor living subject about the one or more orthogonal axes of rotation atan angle or speed calculated with a signal from a terminal, wherein theterminal is (1) remote relative to (i) the vehicle or living subject,(ii) the frame assembly, and (iii) the payload, (2) includes a userinterface providing a mode selection from a plurality of modes having adifferent number of controllable axes of rotation of the carrier, saidplurality of modes including a one-axis control mode, a two-axes controlmode, and a three-axes control mode, and (3) generates the signal basedon the mode selection.
 13. The carrier of claim 12 wherein the gimbalcomprises three frame components that are configured to pivot at thethree axes of rotation which are orthogonal to each other.
 14. Thecarrier of claim 13 wherein the payload is movable via the carrier aboutthe three orthogonal axes that remain orthogonal to one anotherthroughout the movement of the payload.
 15. The carrier of claim 13wherein the orthogonal axes of rotation include the pitch, roll, and yawaxes.
 16. An unmanned aerial vehicle comprising the carrier of claim 12.17. The carrier of claim 12 wherein the signal from the terminal isindicative of an attitude of the terminal.
 18. The carrier of claim 12wherein the signal from the terminal is indicative of an input by a userof the terminal.
 19. The carrier of claim 12 wherein the command signalis generated further based on an attitude of the payload.
 20. Thecarrier of claim 12 wherein the payload is an image capturing device.21. The carrier of claim 12 wherein the vehicle has a volume of lessthan 100 cm³.
 22. The carrier of claim 12 wherein the payload andcarrier are separable from one another.
 23. A remote terminal configuredto control positioning of a payload supported by a carrier that isconfigured to be attached to a vehicle or living subject, said terminalcomprising: a user interface that provides a mode selection from aplurality of modes having a different number of controllable axes ofrotation provided by the carrier, said plurality of modes including aone-axis control mode, a two-axes control mode, and a three-axes controlmode; one or more processors that, individually or collectively,generates a signal based on the mode selected; and a communication unitthat transmits the signal to the carrier, wherein the carrier comprises(1) one or more frame components configured to support the payload,wherein the payload is movable relative to the vehicle or living subjectvia actuation of the one or more frame components about one or moreorthogonal axes of rotation, wherein the one or more frame componentsare connected to one another to form a gimbal having at least threeaxes; and (2) one or more actuators configured to respond to a commandsignal to actuate the one or more frame components that effects movementof the payload relative to the vehicle or living subject about the oneor more orthogonal axes of rotation at an angle or speed calculatedbased on the signal transmitted by the communication unit.
 24. Theremote terminal of claim 23 wherein the gimbal comprises three framecomponents that are configured to pivot at the three axes of rotationwhich are orthogonal to each other.
 25. The remote terminal of claim 23wherein the vehicle is an unmanned aerial vehicle.